Robotics
17ME29 – ROBOTICS
2
B. Tech VII Sem
2 (Theory) + 2 (Tutorial) – 3 Credits
 Prerequisite
Subjects:
Engineering
Mechanics
&
Kinematics
of
Machines
Course Educational Objectives:

The
ability
to
main
objective
develop
robotic
of
this
course
systems
for
is
to
social
cultivate
and
the
industrial
interest
development.
Course Outcomes:
At the end of the course, the student will be able to:

CO1 Understand the basics of robots, end effectors and its applications.
CO2 Familiarize the working of actuators and sensors for robotic application.
CO3 Formulate D-H matrices for different kinematics problems.
CO4 Model the dynamic behavior of robot.
CO5 Analyze the trajectory of robotic motion.
and
Syllabus
3
 UNIT - I
 INTRODUCTION : Basic concepts – Robot anatomy –Components of robots- Robot motions –Number of
D.O.F – Work volume-Robot applications in Material transfer and machine loading/unloading applications –
Processing operations – Assembly and inspection – Future applications.
ROBOT END EFFECTORS: Introduction – Types of end effectors – Mechanical grippers –Vacuum cups,
magnetic grippers, adhesive gripers and others – Robot / End effectors interface –Considerations in gripper
selection and design.
 UNIT - II
ContentSENSORS: Sensor characteristics-Position sensors: Potentiometers, LVDT, Resolvers,
Magnetostrictive Displacement Transducers (MDT) – velocity sensors: encoders, tachometers.
s
 UNIT - III
ACTUATORS: Characteristics of actuating system- pneumatic actuators-hydraulic actuatorselectric motors.
encoders,
MANIPULATOR KINEMATICS: Introduction –Coordinate Frames, Description of Objects in space,
Transformation of vectors, Inverting a Homogeneous Transform, Fundamental Rotation Matrices, Problems- DH representation – problems on forward kinematics.
 UNIT - IV
DYNAMICS: Introduction -Differential transformations- Jacobian – problems- Lagrange Euler formulation –
Problems.
 UNIT - V
TRAJECTORY PLANNING: Introduction – considerations on trajectory planning – joint Interpolated
trajectory – Cartesian path trajectory – problems.
4
Textbooks and References
 TEXTBOOKS
 Saeed B.Niku, Introduction to Robotics- Analysis, Systems &
Application, Second Edition, Willy India Private Limited, New
Delhi,2011.
 R.K.Mittal and IJ Nagrath, Robotics and Control, Tata McGraw–Hill
publishing company Limited, New Delhi,2003.
 REFERENCES
 MikellP.Groover, Mitchell Weiss, Roger N. Nagel&Nicholas G.
Odrey,Ashish Dutta, Industrial Robotics, Second Edition McGrawHill Education(India) Private Limited,2012
 Robert J.Schilling, Fundamentals of robotics analysis & control, PHI
learning privat limited, New Delhi,4thEdition, 2002
 John.J Criag, Introduction to Robotics-Mechanics and Control,
Third Edition, Pearson Education,Inc., 2008
INTRODUCTION TO ROBOTICS
5
Industrial Automation
 Due to the globalization, the manufacturing industry is facing an increasing competition
on the international marketplaces.
 High quality products are demanded with competitive prices.
 To meet these challenges successfully, fast response to market needs, short time-tomarket based on adequate manufacturing technologies are required.
 Key strategy for improvement and to stay ahead is: Manufacturing Automation
Definition:
Industrial Automation can be defined as the use of set of technologies and automatic
control devices that results the automatic operation and control of industrial processes
without significant human intervention and achieving superior performance than manual
control“.
Evolution of Industrial Manufacturing
6
1784
1870
1960
2010
7
Industrial Automation
Advantages
 To simplify human activities in production
 To reduce periodic manual checking by
control systems
 To increase the production speed  increase
of productivity;
 To reduce production cost by reduced
human intervention -->less investment on
labor cost;
 To improve product quality
 To reduce routine checks
 To raise the level of safety.
Source: elprocus.com, mytimes.com, shutterstock .com
8
Industrial Automation
To improve quality, reduce delivery times, simplify human
activity during the production process, and to lower production
costs, manufacturers around the world are turning to industrial
Automation.
Industrial Robots
Source Texas Instruments:
Robot manipulator
9
Wrist
Forearm
Elbow joint
Upperarm
Shoulder joint
Base plate
Robot manipulator
10
Introduction to Robotics
11
 Robot: An electromechanical device with multiple degrees-offreedom (DOF) that is programmable to complete a variety of
tasks.
 Industrial robot:The Robotics Industries Association (RIA) defines
robot in the following way:
 “An industrial robot is a programmable, multi-functional
manipulator designed to move materials, parts, tools, or special
devices through variable programmed
performance of a variety of tasks”
motions
for
the
 Robotics: The science of robots. Humans working in this area are
called robotics.
 DOF degrees-of-freedom: the number of independent motions a
device can make. (Also called mobility)
 Manipulator: Electromechanical device capable of interacting
with its environment.
 Anthropomorphic: Like human beings.
12
 End-effector: The tool, gripper, or other
device mounted at the end of a
manipulator, for accomplishing useful
tasks.
 Workspace: The volume in space that a
robot’s end-effector can reach, both in
position and orientation.
 Position: The translational (straight-line)
location of something.
 Orientation: The rotational (angle)
location of something. A robot’s
orientation is measured by roll, pitch,
and yaw angles.
 Link: A rigid piece of
connecting joints in a robot.
material
 Joint: The device which allows relative
motion between two links in a robot.
13
Kinematics: The study of motion without regard to forces.
Dynamics: The study of motion with regard to forces.
Actuator: Provides force for robot motion.
Sensor: Reads variables in robot motion for use in control.
Speed
• The amount of distance per unit time at which the
robot can move, usually specified in inches per
second or meters per second.
• The speed is usually specified at a specific load or
assuming that the robot is carrying a fixed weight.
• Actual speed may vary depending upon the weight
carried by the robot.
 Load Bearing Capacity
• The maximum weight-carrying capacity of the robot.
• Robots that carry large weights, but must still be
precise are expensive.





 Accuracy
14
• The ability of a robot to go to the specified
position without making a mistake.
• It is impossible to position a machine exactly.
• Accuracy is therefore defined as the ability of the
robot to position itself to the desired location with
the minimal error (usually 25 mm).
 Repeatability
• The ability of a robot to repeatedly position itself
when asked to perform a task multiple times.
• Accuracy is an absolute concept, repeatability is
relative.
• A robot that is repeatable may not be very
accurate, visa versa.
History of Robotics
350 B.C
The Greek mathematician, Archytas builds a mechanical bird named "the Pigeon" that is propelled
15
by steam.
322 B.C.
The Greek philosopher Aristotle writes; “If every tool, when ordered, or even of its own accord, could
do the work that befits it... then there would be no need either of apprentices for the master workers
or of slaves for the lords.”... hinting how nice it would be to have a few robots around.
200 B.C.
The Greek inventor and physicist Ctesibus of Alexandria designs water clocks that have movable
figures on them.
1495
Leonardo Da Vinci designs a mechanical device that looks like an armored knight. The mechanisms
inside "Leonardo's robot" are designed to make the knight move as if there was a real person inside.
1738
Jacques de Vaucanson begins building automata. The first one was the flute player that could play
twelve songs.
1770
Swiss clock maker and inventor of the modern wristwatch Pierre Jaquet-Droz start making automata
for European royalty. He create three doll, one can write, another plays music, and the third draws
pictures.
1801
Joseph Jacquard builds an automated loom that is controlled with punched cards.
1898
Nikola Tesla builds and demonstrates a remote controlled robot boat.
192116
Czech writer Karel Capek introduced the word "Robot" in his play "R.U.R" (Rossuum's Universal Robots).
"Robot" in Czech comes from the word "robota", meaning "compulsory labor“.
1940
Issac Asimov produces a series of short stories about robots starting with "A Strange Playfellow" (later
renamed "Robbie") for Super Science Stories magazine. The story is about a robot and its affection for a
child that it is bound to protect. Over the next 10 years he produces more stories about robots that are
eventually recompiled into the volume "I, Robot" in 1950. Issac Asimov's most important contribution to the
history of the robot is the creation of his “Three Laws of Robotics”.
1946
George Devol patents a playback device for controlling machines.
1961
Heinrich Ernst develops the MH-1, a computer operated mechanical hand at MIT.
1961
Unimate, the company of Joseph Engleberger and George Devoe, built the first industrial robot, the PUMA
(Programmable Universal Manipulator Arm).
1966
The Stanford Research Institute creates Shakey the first mobile robot to know and react to its own actions.
1969
Victor Scheinman creates the Stanford Arm. The arm's design becomes a standard and is still influencing the
design of robot arms today.
1976
Shigeo Hirose designs the Soft Gripper at the Tokyo Institute of Technology. It is designed to
17wrap around an object in snake like fashion.
1981
Takeo Kanade builds the direct drive arm. It is the first to have motors installed directly into the
joints of the arm. This change makes it faster and much more accurate than previous robotic
arms.
1989
A walking robot named Genghis is unveiled by the Mobile Robots Group at MIT.
1993
Dante an 8-legged walking robot developed at Carnegie Mellon University descends into Mt.
Erebrus, Antarctica. Its mission is to collect data from a harsh environment similar to what we
might find on another planet.
1994
Dante II, a more robust version of Dante I, descends into the crater of Alaskan volcano Mt.
Spurr. The mission is considered a success.
1996
Honda debuts the P3.
1997
The Pathfinder Mission lands on Mars
2000
Honda debuts new humanoid robot ASIMO.
Definition of Robot:
18
A robot is a reprogrammable, multifunctional manipulator designed to move material, parts,
tools, or specialized devices through variable programmed motions for the performance of
a variety of tasks.” (Robot Institute of America).
“A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or
hear.”
Ideal Tasks: Tasks which are:
Dangerous
Space exploration
disaster cleanup
chemical spill cleanup
disarming bombs
Boring and/or repetitive
Welding car frames
part pick and place
manufacturing parts.
High precision or high speed
Electronics testing
Surgery
precision machining.
19
Automation vs Robots
Automation –Machinery designed to carry out
a specific task
 Bottling machine
 Dishwasher
 Paint sprayer etc.
Robots – machinery designed to carry out a
variety of tasks
 Pick and place arms
 Mobile robots
 Computer Numerical Control machines etc.
20

Association of
Robotics
JIRA (Japanese Industrial Robot
Association)

Class1: Manual-Handling Device

Class2: Fixed Sequence Robot

Class3: Variable Sequence Robot

Class4: Playback Robot

Class5: Numerical Control Robot

Class6: Intelligent Robot
Association of
Robotics
21

- RIA (Robotics Institute of America)

Variable Sequence Robot (Class3)

Playback Robot (Class4)

Numerical Control Robot (Class5)

Intelligent Robot (Class6)
22
Association of
Robotics

AFR (Association FranÇaise de
Robotique)

Type A: Manual Handling Devices
/ telerobotics

Type B: Automatic Handling
Devices / predetermined cycles

Type C: Programmable, Servo
controlled
robot,
continuous
point-to-point trajectories

Type D: Same type with C, but it
can acquire information.
23
Laws of Robotics (Asimov's Laws)
Zeroth Law
A robot may not harm humanity, or, by inaction, allow humanity to come to harm.
First Law
A robot may not injure a human being or, through inaction, allow a human being to
come to harm.
Second Law
A robot must obey the orders given it by human beings except where such orders
would conflict with the First Law.
Third Law
A robot must protect its own existence as long as such protection does not conflict
with the First or Second Law.
24
Manufacturing Automation with Industrial Robots
Why to apply robots in industrial manufacturing?
Constraints:
 high initial costs
 security threats
 high and sometimes unpredictable cost for further development, add-on
or upgrade
 personnel of higher qualification is requested; operators need sufficient
training
Robot Anatomy
25
Joint3
Link3
Manipulator consists of joints
and links
End of Arm
Joints provide relative motion
Link2
Link1
Links are rigid members between
joints
Each joint provides a “degree-offreedom”
Joint2
Joint1
Link0
Base
26
Robot
Anatomy
 Robot manipulator consists of
two sections:
 Body-and-arm – for positioning
of objects in the robot's work
volume
 Wrist assembly – for orientation
of objects
Robot
Anatomy
27
 The physical construction of the
body, arm and wrist of the
machine
 The wrist is oriented in a variety of
positions
 Relative movements between
various components of body, arm
and wrist are provided by a series
of joints
 Joints provide either sliding or
rotating motions
 The assembly of body, arm and
wrist is called “Manipulator”
 Attached to the robot’s wrist is a
hand which is called “end
effector”
 The body and arm joints position
the end effector and wrist joints
orient the end effector.
Mechanical design of Industrial Robots:
28
Robots are built from numerous parts:
 Arm elements → material= aluminum alloy, carbon steel or
castiron
 Actuators
→ AC servomotors
 Reduction gears→ to reduce motor rotation and to multiply motor torque
 Transmission devices → to transmit the mechanical power
generated by the motors (for instance by means of belts, spindles,
or gears)
 Sensors → to measure arm positions and speed of axis motion
 Cabling → transmission of electrical power and electrical signals.
29
Manipulator Joints
30
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Robot Joints
31
Prismatic Joint: Linear, No rotation involved.
Revolute Joint: Rotary,
(Ex: Hydraulic or pneumatic cylinder)
(Ex: electrically driven with stepper motor, servo motor)
(R)
(P)
32
Robot Configurations
Variety of sizes, shapes and physical configuration
1.
Cartesian Coordinates Configuration
2.
Cylindrical Configuration
3.
Polar or Spherical Configuration
4.
Articulated or Jointed-arm Configuration
5.
Selective Compliance Assembly Robot Arm (SCARA) Configuration
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32
Cont.
33
Cartesian Coordinate: Body-and-Arm
Assembly
 Notation LOO
 Consists of three sliding joints, two of
which are orthogonal
 Other names include rectilinear robot
and x-y-z robot
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Cartesian Coordinate Configuration
34

Uses three perpendicular slides to construct x,
y and z axes

X-axis represents right and left motions, Y-axis
represents forward-backward motions and Zaxis represents up-down motions

Kinematic designation is PPP/LLL

Other names are xyz robot or Rectilinear robot
or Gantry robot

Operate within a rectangular work volume
34
Cont.
Cartesian Coordinate Configuration
35
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35
Cont.
Cartesian Coordinate Configuration
Advantages
36



Linear motion in three dimension

Simple kinematic model

Rigid structure

Higher repeatability and accuracy

High lift-carrying capacity as it doesn’t vary at different locations in work volume

Easily visualize

Can increase work volume easily

Inexpensive pneumatic drive can be used for P&P operation
Disadvantages

requires a large volume to operate in

work space is smaller than robot volume

unable to reach areas under objects

must be covered from dust
Applications

Assembly

Palletizing and loading-unloading machine tools,

Handling

Welding
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36
Cont.
Cylindrical Configuration: Body-and-Arm Assembly
37
 Notation TLO
 Consists of a vertical column, relative
to which an arm assembly is moved
up or down
 The arm can be moved in or out
relative to the column
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Cylindrical Configuration
38

Use vertical column which rotates and
a slide that can be moved up or down
along the column

Arm is attached to slide which can be
moved in and out

Kinematic designation is RPP

Operate within a cylinder work volume

Work volume may be restricted at the
back side
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38
Cont.
Cylindrical Configuration
39

Advantages
 Simple kinematic model





Rigid structure & high lift-carrying capacity
Easily visualize
Very powerful when hydraulic drives used
Disadvantages
 Restricted work space
 Lower repeatability and accuracy
 Require more sophisticated control
Applications
 Palletizing, Loading and unloading
 Material transfer, foundry and forging
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39
Cont.
Polar Coordinate: Body-and-Arm Assembly
40
Translational motion
Linear joint (type L)
Orthogonal joint
(type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
 Notation TRL
 Consists of a sliding arm (L joint) actuated relative to the body,
which can rotate about both a vertical axis (T joint) and
horizontal axis (R joint)
Polar or Spherical Configuration
41

Earliest machine configuration

Has one linear motion and two rotary motions

First motion is a base rotation, Second motion
correspond to an elbow rotation and Third
motion is radial or in-out motion

Kinematic designation is RRP

Capability to move its arm within a spherical
space, hence known as ‘Spherical’ robot

Elbow rotation and arm reach limit the design of
full spherical motion
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41
Cont.
Polar or Spherical Configuration
42



Advantages

Covers a large volume

Can bend down to pick objects up off the floor

Higher reach ability
Disadvantages

Complex kinematic model

Difficult to visualize
Applications

Palletizing

Handling of heavy loads e.g. casting, forging
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42
Cont.
Jointed-Arm Robot Configuration
43
Notation TRR
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Jointed Arm Configuration
44

Similar to human arm

Consists of two straight components like human forearm and upper
arm, mounted o a vertical pedestal

Components are connected by two rotary joints corresponding to the
shoulder and elbow

Kinematic designation is RRR

Work volume is spherical
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44
Cont.
45
Jointed Arm Configuration
46
Advantages
 Maximum flexibility
Cover large space relative to work volume objects up
off the floor
 Suits electric motors
 Higher reach ability
Disadvantages
 Complex kinematic model
 Difficult to visualize
 Structure not rigid at full reach
Applications
 Spot welding, Arc welding



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46
Cont.
SCARA Robot Configuration
47
(Selective Compliance Assembly Robot Arm or
Selective Compliance Articulated Robot Arm)
 Notation VRO
 Similar to jointed-arm robot except that vertical axes
are used for shoulder and elbow joints to be
compliant in horizontal direction for vertical insertion
tasks
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
SCARA Configuration
48






Most common in assembly robot
Arm consists of two horizontal revolute joints at the waist and elbow and a
final prismatic joint
Can reach at any point within horizontal planar defined by two concentric
circles
Kinematic designation is RRP
Work volume is cylindrical in nature
Most assembly operations involve building up assembly by placing parts on
top of a partially complete assembly
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48
Cont.
SCARA Configuration
49

Advantages
 Floor area is small compare to work
area
 Compliance

Disadvantages
 Rectilinear motion requires complex
control of the revolute joints
Applications
 Assembly operations
 Inspection and measurements
 Transfer or components

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49
Cont.
Parallel Manipulator
50
Parallel robots are closed-loop mechanisms presenting very good
performances in terms of accuracy, velocity, rigidity and ability to manipulate
large loads. They have been used in a large number of applications ranging
from astronomy to flight simulators and are becoming increasingly popular in
the field of machine-tool industry.
Dual Arm Robots
51
 Dual-arm robots provide efficient approach for automated execution of complex
assembly operations.
 With bimanual-manipulation, a dual-arm robot can simultaneously control relative
motion and interaction of assembly counterparts in a dexterous human-like manner.
 This requires, however, sophisticated programming and control algorithms for arms
cooperation. An advanced industrial dual-arm robot system with novel capabilities, such
as easy and rapid commissioning, compliance control of bimanual interaction in all
assembly process phases, as well as intuitive planning and programming.
 The robot can be leased and easily integrated in assembly environment sharing the
same workspace with human workers.
Wrist Configurations
52
 End effector is attached to wrist
assembly
 Function of wrist assembly is to orient
end effector
 Body-and-arm
determines
position of end effector
global
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Example – Design your own configurations
53
 Sketch following manipulator configurations
 (a) TRT:R, (b) TVR:TR, (c) RR:T.
Solution:
R
T
R
R
R
T
R
T
R
V
T
(a) TRT:R
T
(b) TVR:TR
(c) RR:T
Translational motion
Linear joint (type L)
Orthogonal joint (type O)
Rotary motion
Rotational joint (type R)
Twisting joint (type T)
Revolving joint (type V)
Robot Motions
54


Industrial robots perform productive work
To move body, arm and wrist through a series of motions and
positions
End effector is used to perform a specific task
Robot’s movements divided into two categories:
1. Arm and body motions
2. Wrist motions
Individual joint motions referred as Degree of Freedom (DOF).
Motions are accomplished by powered joints





Three joints are associated with the action of arm and body
Two or three used to actuate the wrist
Rigid members are used to connect manipulator joints are called links
Input link is closest to the base
Output link moves with respect to the input link




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54
Cont.
Robot Motions
55





Joints involve relative motions of the
adjoining links that may be linear or
rotational
Linear joints involve a sliding or
translational motion which can be
achieved
by
piston,
telescopic
mechanism
May be called ‘Prismatic’ joint
Represented as L or O or P joint
Three types of rotating motion:

Rotational (R)

Twisting (T)

Revolving (V)
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55
Cont.
56
Robot Motions









Physical configuration of the robot can
be described by a joint notation scheme
Considering the arm and body first
Starting with the joint closest to the base
till the joint connected to the wrist
Examples are LLL, TLL, TRL, TRR, VVR
Wrist joints can be included for notation
From joint closest to the arm to the
mounting plate for the end effector
have either T or R type
Examples are TRL : TRT, TRR : RT
The scheme also provide that robot
move on a track or fixed to a platform
Example TRL : TRT, L-TRL : TRT
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56
Cont.
57
Degrees of Freedom (DOF) in Robotics
58
Degrees of freedom, in a mechanics context, are
specific, defined modes in which a mechanical device
or system can move.
The number of degrees of freedom is equal to the
total number of independent displacements or
aspects of motion. such a robot arm has five to seven
degrees of freedom.
59
Degrees of Freedom
The mobility, or number of DOF, of a robot is defined as the number of independent joint variables
required to specify the location of all the links of the robot in space. It is equal to the minimal number
of actuated joints to control the system.
The number of degrees of freedom 𝑁𝑑𝑜𝑓 of a robot is equal to the number of joints in the case of tree
structure system L. In the case of a closed-loop mechanism, the calculation of the mobility Ndofcan be
expressed by the following relation:
𝑁𝑑𝑜𝑓 = L − c
where
Lis the number of joints of the structure and
cis the number of independent relationships (constraints) between the joint variables, i.e. the
number of dependent joints.
In case of a system composed of Bindependent closed loops, the mobility of the system may be
calculated by:
𝐵
𝑁𝑑𝑜𝑓 = 𝐿 − ෍ 𝑐𝑗
𝑗=1
This simple formula gives good results for most robot structures but it can yield bad results for
certain complex systems and does not give information about the type of motion of the system.
However, for some robots, the exact solution is obtained by analyzing the kinematic constraints and
taking into account the coupling between the loops (Hervé 1978; Le Borzec and Lotterie 1975).
Robot Working Envelopes
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A robot's work envelope is its range of movement. It is the shape created when
a manipulator reaches forward, backward, up and down. These distances are determined
by the length of a robot's arm and the design of its axes. Each axis contributes its own
range of motion.
A robot can only perform within the confines of this work envelope. Still, many of
the robots are designed with considerable flexibility. Some have the ability to reach behind
themselves. Gantry robots defy traditional constraints of work envelopes. They move along
track systems to create large work spaces.
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Robot Working Envelopes
Different Robot configurations generate characteristic
working envelope shapes. This working envelope is
important when selecting a Robot for a particular
application since it dictates:Care should be exercised when interpreting the working
envelope of a Robot, for a number of reasons.
 the working envelope refers to the working volume
which can be reached by some point at the end of the
Robot arm, this point is usually the centre of the end
effector mounting plate. It excludes any tools or
workpiece which the end effector may hold.
 There are often areas within the working envelope
which cannot be reached by the end of the Robot arm.
Such areas are termed dead zones.
 The maximum quoted payload capacity can only be
achieved at certain arm spans this may not necessarily
be at maximum reach.
Standard Working Envelope Shapes
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Cartesian Configuration
 The working envelope of the Cartesian
configuration is a rectangular prism.
 There are no dead zones within the
working envelope and the Robot can
manipulate
its
maximum
payload
throughout the working volume.
Cylindrical Configuration
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 The working envelope of this
configuration is as its name
suggests a cylinder.
 The cylinder is hollow, since
there is a limit to how far the
arm can retract, this creates a
cylindrical dead zone around
the Robot structure.
Polar Configuration
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 The
working
envelope
of
this
configuration sweeps out a volume
between two partial spheres.
 There are physical limits imposed by
the design on the amount of angular
movement in both the vertical and
horizontal planes.
 These restrictions create conical dead
zones both above and below the
Robot structure.
Revolute Configuration or
Articulated
Robotic Arm
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This configuration has a large
working envelope relative to the
floor space it occupies.
The shape of the working
envelope
depends
on
the
individual design.
The two most common designs
are shown below. The design in b)
allows almost a true sphere to be
reached, whilst the design in a) has
a complex cusp shaped envelope.
SCARA Configuration
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 The SCARA configuration has a working envelope
that can be loosely described as a heart or kidney
shaped prism, having a circular hole passing
through the middle.
 This allow a large area coverage in the horizontal
plane but relatively little in the vertical plane.
Spine Configuration
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 The envelope of the spine Robot will approximate that of a true hemisphere the size
being dependent on the number of articulations in the spine.
Pendulum Configuration
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 The working envelope of the pendulum configuration resembles that of a simple
horseshoe having a segmented shaped cross section.
 The limited working envelope is offset by the fact that this Robot can be mounted in
almost any position, allowing the envelope to be finely positioned in relation to its task.
Workspace for Parallel Robot
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Robot Workspace and Specifications
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Design of Workspace
Common Industrial Robot Applications
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1. Arc Welding
Arc welding, or robot welding, became commonplace in the 1980s. One of the driving forces for
switching to robot welding is improving the safety of workers from arc burn and inhaling hazardous
fumes.
2. Spot Welding
Spot welding joins two contacting metal surfaces by directing a large current through the spot,
which melts the metal and forms the weld delivered to the spot in a very short time (approximately
ten milliseconds).
3. Materials Handling
Material handling robots are utilized to move, pack and select products. They also can automate
functions involved in the transferring of parts from one piece of equipment to another. Direct labor
costs are reduced and much of the tedious and hazardous activities traditionally performed by
human labor are eliminated.
4. Machine Tending
Robotic automation for machine tending is the process of loading and unloading raw materials into
machinery for processing and overseeing the machine while it does a job.
5. Painting
Robotic painting is used in automotive production and many other industries as it increases the
quality and consistency of the product. Cost savings are also realized through less rework.
Common Industrial Robot Applications
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6. Picking, Packing and Palletizing
Most products are handled multiple times prior to final shipping. Robotic picking and packaging
increases speed and accuracy along with lowering production costs.
7. Assembly
Robots routinely assemble products, eliminating tedious and tiresome tasks. Robots increase
output and reduce operational costs.
8. Mechanical Cutting, Grinding, Deburring and Polishing
Building dexterity into robots provides a manufacturing option that is otherwise very difficult to
automate. An example of this is the production of orthopedic implants, such as knee and hip
joints. Buffing and polishing a hip joint by hand can normally take 45-90 minutes while a robot
can perform the same function in just a few minutes.
9. Gluing, Adhesive Sealing and Spraying Materials
Sealer robots are built with numerous robotic arm configurations that enable the robot to apply
adhesives to any type of product. The primary benefit in this application is increased quality,
speed and consistency of the final product.
10. Other Processes
These include inspection, waterjet cutting and soldering robots.
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Robotic Material Handling
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Die Cast
REDUCE LABOR COSTS WITH AUTOMATION
Material handling (MH) makes use
of the robot's simple capability to
transport objects.
Machine Tending
By fitting the robot with an
appropriate end of arm tool (e.g.
gripper), the robot can efficiently
and accurately move product from
one location to another.
Bin Picking
Palletizing
Robotic Material Handling
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Picking and Placing
Press Forming
Logistics
Parts Transfer
Robotic Machine Loading / Unloading Applications
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In machine loading and unloading process, a robot will be used to move the work parts to
or/and from the production machine. This application comes under the category of material
handling operations.
The machine loading and unloading application includes the following three processes:
 Machine loading
 Machine unloading
 Machine load and unload
Machine loading:
In this operation, the robot loads raw work parts in the machine, and some other systems are used
to unload the finished work parts from the machine.
Example: In a press working process, a robot is used to load the sheet metal in the press, and the
finished work parts are removed from the press with the help of gravity.
Machine unloading:
In machine unloading, the finished work parts are unloaded from the machine by a robot, while
the loading of raw materials are done without any robot support.
Example: Plastic modeling and die casting.
Machine load and unload:
In this process, a robot performs both loading and unloading of work parts in and from the
machine.
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Ex: Machining operation:
The machine loading and unloading process performed by industrial robots are very well
characterized by the robot-centered workcell. This cell includes a robot, production
machine, and other devices like part delivery system. It helps in increasing the usage of a
robot by making it to service more than a production machine. As a result, the
productivity in the cell is also increased to a larger extent. This robot cell can be
preferred when a robot is in the idle state for a long time.
Moreover, the robots are largely used to carry out loading and unloading process in
some production operations like forging, die casting, plastic modeling, stamping press,
and machining operations.
Design of Robot-centered cell:
Robot-centered cell is one of the commonly used layouts in the industrial applications. In
this arrangement, a single robot will be incorporated at the center of the work cell for
performing operations on several machines that are set in a semi-circle form. This type of
work cell is shown in the below figure.
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Applications of Robots Processing operations
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In
robotic
processing
operations,
the
robot
manipulates a tool
to
perform a process on the
work part.
Examples
of
applications include
such

spot welding,

continuous arc welding,

spray painting.
Spot
welding
of
automobile bodies is one of
the
most
common
applications of industrial
robots.
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