Introduction to Robotics

Definition
Robot is a reprogrammable, multifunctional mechanical manipulator. It can move materials, parts, tools or specialized devices through variable programmed motions to perform a variety of tasks.

An Articulated Type Industrial Robot

Significant Benefits of Robots

Flexibility High productivity Better quality Improved quality of human life since jobs in hostile or hazardous environment are left to the robots.

Comparison of CNC Machines and Robots - Similarities

Both operate on the same principles. They have similar drives, feedback elements and control loops. Both can have PTP or CP motions.

Comparison of CNC Machines and Robots - Differences

Characteristic
Applications

CNC Machines
Primarily conventional and non-traditional machining. Written in G, M code format

Robots
Primarily for material handling and assembly. (i) (ii) (iii) Teach pendant method Walk-through method Tele-operation

Online programming method Offline programming method Sensory capability Kinematics

Same for both. i.e., (i) language-based; (ii) model-based interactive (iii) CAPP-based automatic methods. Low Popularly Cartesian 3 to 5 axes only High Many kinematic arrangements are possible. Normally 6 axes.

Accuracy
Rigidity

High
High

Low
Low

Kinematic Differences between CNC Machines and Robots

CNC machines are mostly cartesian type whereas robots are available in many types such as
- Cartesian - Cylindrical - Polar - Articulated or jointed arm - Hexapod

Other differences are

- Mobile robots (CNC machines are invariably stationary) - Autonomous robots (CNC machines are rarely autonomous)

Kinematic Types of Robots

Cartesian Robot

Cylindrical Robot

Kinematic Types of Robots

Polar Robot

Articulated/ Jointed Arm Robot

Applications - Industrial
Loading and unloading Spot welding, arc welding, soldering etc. Spray painting Assembly Inspection Drilling and deburring Laying of composite prepregs (e.g., 12 axis robots)

Applications Non-industrial
Shearing of wool from sheep Deboning of meat Cleaning of glass walls (Berlin) Cleaning of aircraft (Frankfurt) Automatic petrol filling (FhG-IPA) Deploying and repair of satellites Assistants to handicapped persons Surgery Household robots Patrolling Nuclear material handling Space robots Underwater operations (welding of pipes, inspection of pipes, cables, retrieval of sunk vessels) Farming Fire fighting

Applications Medical Robot

Applications Shearing of Wool

Applications Fire Fighting

Applications Space Robot

Types of Robots
Based on the kinematics
Cartesian, cylindrical, spherical, articulated or jointed arm, hexapod

Based on mobility
Stationary Mobile

Based on operating mode

Programmable Tele-operated Autonomous

Based on the path of motion

PTP CP

Parts of Robots
Main frame or arm
3 dof

Wrist
3 dof

End effector or tool or gripper

This can be a welding gun, spray gun, cutter, gripper etc.