Presentation on robots

Sharwan kumar
 Intro

Robot, defined
"A re-programmable, multifunctional
manipulator, designed to move material,
parts, tools, or specialized devices through
various programmed motions for the
performance of a variety of tasks."-- From
the Robot Institute of America, 1979
 Robot Physical Configuration

 All most all of the current day robots fall

under the following four configurations.
 Polar Co-ordinate Configuration
 Cylindrical Co-ordinate Configuration
 Jointed Arm Configuration
 Cartesian Co-ordinate Configuration
Polar Co-ordinate Configuration
 This configuration sometimes also referred to
as Spherical Co-ordinates as the workspace
within which it can move its arm is a partial
sphere.
 The robot typically has a rotary base and a
pivot that can be used to raise and lower the
telescopic arm
Polar Co-ordinate Configuration
 Cylindrical Co-ordinate
Configuration
 Here, robot body is a vertical column that
swivels about a vertical axis. The arm consists
of several orthogonal slides which allow the
arm to be moved up or down and in and out
with respect to the body.
Cylindrical Co-ordinate
Configuration
 Jointed Arm Configuration
 The jointed arm is similar to human arm in
appearance. The arm consists of several
straight members connected by joints which
are analogous to human shoulder, elbow and
wrist.
 The robot arm is mounted to the base which
can provide the robot with a capacity to work
within a spherical work enclosure.
Jointed Arm Configuration
 Cartesian Co-ordinate
configuration.
 This robot is Cartesian because it allows x-y-z
positioning. Three linear joints provide the
three axes of motion and define the x, y and z
planes. This robot is suited for pick and place
applications where either there are no
orientation requirements or the parts can be
pre-oriented before the robot picks them up
(such as surface mounted circuit board
assembly)..
Cartesian Co-ordinate
configuration.
 Robotic Motions
 Irrespective of the configuration, the purpose
of a robot is to perform an useful task. To
accomplish the task, an end Effector or Hand
is attached to the end of the robot’s arm. By
moving the end effectors along with the arm a
robot can perform any specific function for
which the effectors are designed.
 Basic robot motions
 There are six basic motions which provide the
robot with the capability to move the end
effectors through the required sequence of
motions.The six basic motions consist of
three arm and body motions and three wrist
motions. These motions are describe below:-
 Degrees of Freedom
 In three dimensions, the six DOFs of a rigid body are
sometimes described using these nautical names:
 Moving up and down (heaving);
 Moving left and right (swaying);
 Moving forward and backward (surging);
 Tilting along vertical axis (pitching);
 Tilting front to back (yawing);
 Tilting side to side , along length (rolling).
Degrees of Freedom
 Major features of a Robot

 The major features that are common to almost

all types of robots are :
 Manipulator (or arm)
 Controller(the brain of robot )
 Sensors
 Power supply unit
 Manipulator (or arm)

 The robot manipulator contains three structural

elements.
 The arm ,
 the wrist and
 the hand (or end effectors).
 The end effectors

 At the end of human arm there is hand and

figures , similarly at the free end of the robot
arm there is a component called end effectors.
The end effectors
 End effectors
 End effectors fall in two major categories .
these are:
 Grippers
 Tools
 Grippers
 Grippers are end effectors used to hold objects.
 The objects are the work parts that are moved
by the robot for purposes such as picking parts
from conveyors, arranging parts in
pallets,machine loading and unloading,
handling of cartoons and materials etc
 Tools
 Tools are end effectors designed to perform
some work on the part rather than merely
grasping it .
 Such applications include spot welding gun ,
spray painting gun , arc welding gun etc
 Controller

 A digital computer is the most commonly used

controller.
 It directs and controls the movement of the
manipulator and the end effector by controlling
the motors that drive the robot links at the
joints.
 Sensors

 Sensors are the transducers that are used to

measures physical variable of interest.the robot
must take on more humanlike senses and
capabilities in order to perform the task in a
satisfactory way.
 These senses and capabilities include vision
and hand-eye coordination, touch and hearing.
 Power supply unit

 This unit provides the required to the

manipulator’s actuators
 Industrial robots make use of three types of
drives . these are:-
 Hydraulic drive:
 Pneumatic drive:
 Electric drive:
 Hydraulic drive:

 These are mostly used for driving high power

robots as they can deliver large power while
being relatively small in size.
 Pneumatic drive:
 This type of drive is used in smaller
robots.these robots are often limited to pick
and place operation with fast cycles.
Thank You