MECHANICAL ENGINEERING
SCIENCE (UE23ME131A)
Srinivasa Prasad K S
Department of Mechanical Engineering
MECHANICAL ENGINEERING SCIENCE
Unit4
Srinivasa Prasad K S
Department of Mechanical Engineering
MECHANICAL ENGINEERING SCIENCE
Chapter 2 – Automation, Robotics,
Control Systems and Industry 4.0
Srinivasa Prasad K S
Department of Mechanical Engineering
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
INTRODUCTION TO INDUSTRIAL ROBOTICS
An industrial robot is a general purpose, programmable machine
possessing certain anthropomorphic characteristics.
The most obvious anthropomorphic characteristic of an industrial robot is
its mechanical arm, that is used to perform various industrial tasks.
Other human like characteristics are the robot’s capability to respond to
sensory inputs, communicate with other machines and make decisions.
These capabilities permit robots to perform a variety of useful tasks.
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Reasons for the commercial and technological importance of industrial robots include the following
–
1) Robots can be substituted for humans in hazardous or uncomfortable work environments.
2) A robot performs its work cycle with a consistency and repeatability that cannot be attained by
humans.
3) Robots can be reprogrammed. When the production run of the current task is completed, a
robot can be reprogrammed and equipped with necessary tooling to perform an altogether
different task.
4) Robots are controlled by computers and can therefore be connected to other computer systems
to achieve computer integrated manufacturing.
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Robot Anatomy
The manipulator of an industrial robot is constructed of a series of joints and links. Robot
anatomy is concerned with the types and sizes of these joints and links and other aspects of the
manipulator’s physical construction.
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Joints and Links
A joint of an industrial robot is similar to a joint in the human
body. It provides relative motion between two parts of the body.
Connected to each joint are two links, an input link and an
output link. Links are the rigid components of the robot
manipulator.
The purpose of the joint is to provide controlled relative Most robots are mounted on a stationary base
movement between the input link and the output link. on the floor. Let us refer to that base and its
connection to the first joint as link 0. It is the
input link to joint 1, the first in the series of
joints. The output link of joint 1 is link 1. Link 1
is the input link to joint 2, whose output link is
link 2 and so forth.
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
Nearly all industrial robots have mechanical joints that can be classified into one of five types:
two types that provide translational motion and three types that provide rotary motion. The
five joints are:
• Rotational joint
• Linear joint
• Twisting joint
• Orthogonal joint
• Revolving joint
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
MECHANICAL ENGINEERING SCIENCE
INDUSTRIAL ROBOTICS
Types of Joints
