UNIT-1

FUNDAMENTALS OF ROBOTS
ROBOT

 An Electro Mechanical device

 Performs Various Tasks

 Controlled by

 1) Human (or)

2) Automated
ROBOT DEFINITION:

 A Robot is a Re-programmable, Multi Functional

Manipulator Designed To Move Materials,
parts, Tools, Or Any Devices Through Various
Programmed Motions For The Performance Of A
Variety Of Tasks
 COMPARISONS OF HUMAN & ROBOT
S.NO HUMAN ROBOT AUTOMATIONS

1 BRAIN PROCESSORS COMPUTER CHIPS & SOFTWARE

SKIN,EARS,
2 SENSORS LIGHTS & SOUNDS
NOSE

WORKS WITH OPTICAL CABLES

3 EYES VISION SYSTEMS
(TV,CAMERA)

ARMS &
4 EFFECTORS MANIPULATE & SUPPORT TOOLS
HANDS

TRANSPORTATION
5 FEET MEVEMENT MECHANISMS
SYSTEMS
ROBOT ANOTOMY

 Robot Anatomy is concerned with the physical

construction of the body, Arm & wrist of the
machine.
 The entire Assembly of the body, Arm & wrist of
the machine of called as a manipulator.
 The attachment of robot’s wrist is a hand or a
tool called the End Effectors.
FOUR COMMON CONFIGURATIONS

 Polar configurations
 Cylindrical configurations

 Cartesian co-ordinate configurations

 Jointed arm configurations

SCARA
SCARA

 Selected Compliance Assembly Robot Arm

 Here rotational Arm & Linear Arms motion
occurred
 Work as cylindrical one
TYPES OF ROBOTS

 INDUSTRIAL ROBOTS
 LABORATORY ROBOTS

 EXPLORER ROBOTS

 HOBBYIST ROBOTS

 CLASS ROOM ROBOTS

 EDUCATIONAL ROBOTS

 TELE ROBOTS
TYPES OF INDUSTRIAL ROBOTS

 SEQUENCE ROBOT
 PLAY BACK ROBOT

 INTELLIGENT ROBOT

 REPEATING ROBOT
CLASSIFICATION OF ROBOTS
 PHYSICAL CONFIGURATIONS
 CONTROL SYSTEMS
 MOVEMENTS
 DRIVE SYSTEMS
 APPLICATIONS
 DEGREE OF FREEDOMS
 SENSOR SYSTEMS
 CAPABILITIES OF ROBOT SYSTEMS
CONTROL SYSTEMS

 A control system refers to a group of physical

component connected or related in such a
manner as to command direct or regulate itself
or another system.
TYPES OF DRIVE SYSTEMS

 HYDRAULIC DRIVE
 ELECTRIC DRIVE

 PNEUMATIC DRIVE

 ADVANCED ACTUATORS
HYDRAULIC DRIVE

 ITS SOPHISTIGATED FOR ROBOTS

 ASSOCIATED IN LARGE ROBOTS

 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE OR

LINEAR DRIVE
ELECTRIC DRIVE

 IT DO NOT PROVIDE AS MUCH SPEED & POWER

 ASSOCIATED IN SMALL ROBOTS

 ACCURACY & REPEATABILITY IS BETTER

 ACTUATED BY DC MOTOR OR STEPPER MOTOR

 THIS DRIVE IS ONLY FOR ROTATIONAL DRIVE BY

DRIVE TRAIN & GEAR SYSTEMS
 PERFORM LINEAR SYSTEMS BY PULLEY
SYSTEMS
PNEUMATIC DRIVE

 FOR SMALLER SYSTEMS WITH LESS D.O.F

 PERFORMS PICK & PLACE OPERATIONS ONLY
WITH FAST CYCLES
 THIS SYSTEM HAVING COMPLIANCE OR
ABILITY TO ABSORB SOME SHOCK
 THIS IS ONLY FOR ROTARY OPERATIONS.
BASIC ROBOT MOTIONS
 SIX BASIC ROBOT MOTIONS ARE

 Rotational transverse - Movement about a

vertical axis
 Radial transverse – Extension & retraction of
arm
 Vertical transverse – Up & Down motion

 Pitch - Up & Down movement of wrist

 Yaw – Side to Side movement of wrist

 Roll – rotation of wrist

ROBOT CONTROL

 This is a information processing device.

 The inputs are both desired and measured
positions.
 Velocity (or) other variables in a process whose
o/p systems are drive signals to control the
motors or actuators
TYPES OF CONTROL SYSTEM

 Open loop control system

 Closed loop or feedback control system
OPEN LOOP CONTROL SYSTEM
 Open loop system are systems in which the output
of a system is not used as a variable to control the
system.
 Element of open loop control systems

Bread toaster (open loop ) control system

CLOSED LOOP CONTROL SYSTEM

 Closed loop system uses on a feed back loop

to control the operation of the system.
ROOM HEATING (CLOSED LOOP) CONTROL SYSTEM