ROBOT AND
ROBOT MANIPULATORS
Kunal Garud
Submitted on: 10-02-2025
Institute: SCHOOL OF ENGINEERING AND TECHNOLOGY
Course: B. Tech. Computer Science and Engineering (IoT, Cyber Security Including
Block Chain Technology)
PRN: 202311116045
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INTRODUCTION
Robotics has indeed transformed industries, research, and even personal lives by
mechanizing and improving accuracy in tasks. Robots are intelligent machines that
perform specific functions ranging from simple domestic duties to complex factory
processes. Depending on the method of operation, robots can be either autonomous,
semi-autonomous, or remote-controlled.
Robot manipulators are one of the elements of robotics. They consist of mechanical arms
that can approach and manipulate objects, perform movements with the greatest
accuracy, and accomplish many robotic operations. Manipulators find their application
in several sectors, including industries, medical, space explorations, among others. There
are several structures and types of manipulator systems, such as articulated, SCARA,
delta, and Cartesian robots, and each has some distinct advantages, based on the task
required.
This report reviews the types of robots and robot manipulators; their classification and
principles of their operation; and of course, some of the key contributions towards the
realization of robotics in modern technology and industry.
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CONTENTS
1. Robots: An Overview
2. Robot Manipulators
3. Types of Robots
4.1 Legged Robots
4.2 Wheeled Robots
4.3 Aerial Robots
4.4 Humanoid Robots
4.5 Autonomous Robots
4. Conclusion
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Chapter 1:
Robots – An Overview
1.1 Definition of a Robot
A robot is a programmable machine capable of carrying out a series of actions
automatically or under remote control. Robots can be designed to mimic human actions,
work in hazardous environments, or perform repetitive tasks efficiently. They are widely
used in industries, healthcare, military operations, and domestic applications. The term
"robot" originates from the Czech word "robota," meaning forced labor, introduced by
Karel Čapek in his 1920 play R.U.R. (Rossum's Universal Robots).
Modern robots integrate mechanical, electrical, and computing components to perform
tasks with precision. They vary in design, from robotic arms in factories to autonomous
drones and humanoid assistants.
Image Suggestion: A general diagram of a robot showing different components such as
sensors, actuators, power supply, and control system.
1.2 Characteristics of Robots
Robots typically exhibit the following characteristics:
● Autonomy: Ability to operate with minimal human intervention.
● Sensing and Perception: Use of sensors to collect data from the environment,
such as cameras, LiDAR, and infrared sensors.
● Manipulation: Equipped with mechanical arms or effectors to interact with
objects in various industries, from manufacturing to medical surgery.
● Mobility: Movement using wheels, legs, or aerial propulsion, enabling them to
navigate different terrains.
● Artificial Intelligence (AI): Integration of AI for decision-making, adaptability,
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and problem-solving.
● Programmability: Ability to be configured for specific tasks and reprogrammed
as needed.
These characteristics allow robots to function in environments unsuitable for humans,
such as deep-sea exploration and outer space missions.
1.3 Applications of Robots
Robots have transformed various sectors, enhancing productivity, safety, and efficiency.
Some key applications include:
● Industrial Automation: Used in assembly lines, welding, painting, material
handling, and packaging to increase efficiency and precision while reducing
human labor.
● Medical Robotics: Includes robotic-assisted surgeries (e.g., Da Vinci surgical
system), robotic prosthetics, rehabilitation devices, and AI-powered diagnostic
robots.
● Military and Defense: Unmanned aerial vehicles (UAVs) for surveillance,
autonomous ground vehicles, and bomb disposal robots.
● Service Robots: Home assistants (e.g., Amazon Alexa, Roomba), customer service
robots, and robotic delivery systems in hospitality and retail.
● Space Exploration: Mars rovers like Perseverance, robotic arms on the
International Space Station, and autonomous probes exploring distant planets.
● Agriculture: Autonomous tractors, AI-driven crop monitoring drones, harvesting
robots, and robotic irrigation systems to optimize farming processes.
● Disaster Response: Search and rescue robots, autonomous firefighting drones,
and underwater robots for deep-sea exploration or hazardous clean-up missions.
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1.4 Evolution of Robotics
Robotics has evolved significantly from basic mechanical devices to highly intelligent
machines. The timeline of robotics development includes:
● Ancient Times: Early concepts of automated machines, including Greek engineer
Hero of Alexandria’s self-operating devices and Leonardo da Vinci’s mechanical
knight.
● 18th-19th Century: Development of mechanical automata, such as Jacques de
Vaucanson’s digesting duck and Charles Babbage’s mechanical computers.
● 20th Century: Rise of industrial robots like Unimate, the first robotic arm used in
manufacturing; advancements in cybernetics and early AI research.
● 21st Century: Rapid advancements in AI, machine learning, autonomous vehicles,
and humanoid robots like Sophia and ASIMO.
With continuous improvements in AI and machine learning, future robots are expected
to become more autonomous, capable, and integrated into everyday life.
1.5 SOURCES
● https://robotnik.eu/history-of-robots-and-robotics/
● https://www.britannica.com/technology/robot-technology
● https://www.infineon.com/cms/en/discoveries/fundamentals-robotics/
● https://www.futurelearn.com/info/courses/begin-robotics/0/steps/2844
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Chapter 2:
Robot Manipulators
2.1 Introduction to Robot Manipulators
A robot manipulator is a mechanical system designed to perform tasks such as
grasping, moving, and manipulating objects. It consists of interconnected links and
joints that function similarly to a human arm. Robot manipulators are widely used in
industries, healthcare, space exploration, and other fields requiring precision and
automation.
Key Components of a Robot Manipulator:
● Base: The foundation that provides stability.
● Links: Rigid bodies that connect different parts.
● Joints: Allow movement and rotation.
● End Effector: The tool attached at the end, such as a gripper or welding tool.
● Actuators: Motors or hydraulic systems that drive movement.
● Sensors: Provide feedback for control and accuracy.
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2.2 Types of Robot Manipulators
2.2.1 Serial Manipulators
Serial manipulators have a sequence of links connected end-to-end, resembling a robotic
arm. They provide a large range of motion but may lack stability.
Examples:
● Industrial robotic arms (e.g., ABB, KUKA robots).
● Space robotic arms (e.g., Canadarm used on the ISS).
2.2.2 Parallel Manipulators
Parallel manipulators consist of multiple links connected to a common base, offering
greater stability and precision.
Examples:
● Stewart Platform (used in flight simulators).
● Delta robots (used in high-speed pick-and-place applications).
2.2.3 Cylindrical Manipulators
Cylindrical manipulators use a rotary base and a prismatic (linear) arm motion. They
are efficient for tasks requiring vertical and rotational movements.
Examples:
● Assembly line robots.
● Material-handling robots.
2.2.4 Cartesian (Gantry) Manipulators
These manipulators move along three perpendicular axes (X, Y, Z) and are known for
their precision and rigidity.
Examples:
● 3D printers.
● CNC machining robots.
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2.2.5 Spherical Manipulators
Spherical manipulators offer movement in a spherical coordinate system, allowing
rotational and linear motions.
Example:
● SCARA (Selective Compliance Articulated Robot Arm) robots used in
electronics assembly.
2.3 Applications of Robot Manipulators
Robot manipulators are used in various fields to improve efficiency and precision.
● Industrial Automation: Welding, painting, material handling.
● Medical Robotics: Surgical assistants like the Da Vinci surgical system.
● Aerospace: Canadarm for satellite repair and ISS maintenance.
● Agriculture: Automated harvesting and sorting robots.
● Defense & Military: Bomb disposal and surveillance robots.
2.4 Sources
● https://www.slideshare.net/
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Chapter 3:
Types of Robot
Robots are classified based on their mobility, structure, and functionality. These
classifications help determine their suitability for various industries, research fields, and
real-world applications. The major types of robots include legged robots, wheeled
robots, aerial robots, humanoid robots, and autonomous robots. Each type is
designed with unique characteristics that cater to specific needs, such as stability,
adaptability, and automation capabilities.
3.1 Legged Robots
Legged robots mimic biological locomotion, enabling them to traverse complex and
uneven terrains where wheeled robots may fail. These robots can have bipedal,
quadrupedal, hexapodal, or even multi-legged structures, each offering different
levels of stability and mobility.
Key Features:
● Enhanced ability to navigate rough or unpredictable terrain.
● Greater flexibility and adaptability to real-world environments.
● Requires advanced balance control, making them computationally complex.
Examples:
Boston Dynamics' Spot: A quadruped robot used for industrial inspections,
military reconnaissance, and search-and-rescue operations.
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MIT Cheetah: A high-speed robotic platform that mimics the movement of a
cheetah for studying locomotion efficiency.
Cassie Robot: A bipedal robot designed for robotic mobility research and
practical applications like last-mile delivery.
Applications: These robots are widely used in military operations, disaster response,
and space exploration, where human intervention is difficult.
-Boston Dynamics' Spot
3.2 Wheeled Robots
Wheeled robots are one of the most common robotic systems due to their simplicity,
efficiency, and cost-effectiveness. They are widely used in industrial automation,
logistics, and transportation.
Key Features:
● High-speed movement on smooth surfaces.
● Lower energy consumption compared to legged robots.
● Straightforward control and navigation systems.
Examples:
● Roomba: An autonomous robotic vacuum cleaner used in households.
● Automated Guided Vehicles (AGVs): Used in warehouses and manufacturing
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plants for material transportation.
● Mars Rovers (Curiosity, Perseverance): Wheeled robots designed for planetary
exploration, equipped with sensors and autonomous navigation capabilities.
Applications: Found in automated warehouses, self-driving vehicles, smart
factories, and planetary exploration.
-NASA's Mars Perseverance rover
3.3 Aerial Robots
Aerial robots, commonly known as drones, operate in the air and are widely used for
surveillance, delivery services, agriculture, disaster response, and military
applications.
Key Features:
● Can access hard-to-reach locations and dangerous areas.
● Various configurations, including fixed-wing and multi-rotor designs.
● Can function autonomously or be remotely controlled.
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Examples:
● DJI Phantom: A widely used drone for aerial photography and video recording.
● MQ-9 Reaper: A military drone used for intelligence gathering, reconnaissance,
and airstrikes.
● Amazon Prime Air: A delivery drone service under development for automated
parcel transportation.
Applications: Used extensively in mapping, disaster relief, security surveillance, and
precision agriculture.
-General Atomics MQ-9 Reaper
3.4 Humanoid Robots
Humanoid robots are designed to resemble the human body structure, enabling them
to interact with people and perform human-like functions. These robots are used in
healthcare, customer service, research, and entertainment.
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Key Features:
● Bipedal locomotion for walking and balancing.
● Human-like interaction using AI-powered speech and gestures.
● Capable of performing tasks that require dexterity and communication.
Examples:
● ASIMO (Honda): One of the most advanced humanoid robots, capable of running,
jumping, and recognizing human gestures.
● Sophia (Hanson Robotics): A social robot designed for realistic human-like
interactions and conversations.
● Atlas (Boston Dynamics): A highly dynamic humanoid robot used for advanced
mobility research.
Applications: Found in elderly care, education, space missions, and customer
service roles.
-HONDA ASIMO
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3.5 Autonomous Robots
Autonomous robots operate without direct human intervention, using AI, sensors,
and advanced computing to make real-time decisions. These robots are extensively
used in logistics, self-driving vehicles, and AI research.
Key Features:
● Ability to perceive surroundings and make decisions independently.
● Uses machine learning and artificial intelligence for adaptability.
● Can perform long-duration operations without human assistance.
Examples:
● Self-Driving Cars (Tesla Autopilot, Waymo): Autonomous vehicles used for
transportation.
● Warehouse Robots (Kiva Systems, now Amazon Robotics): Used in smart
warehouses for inventory management.
● Autonomous Underwater Vehicles (AUVs): Used for deep-sea exploration and
oceanographic studies.
Applications: Deployed in logistics, defense, smart cities, and deep-sea exploration.
3.6 Sources
● https://bostondynamics.com/
● https://science.nasa.gov/planetary-science/programs/mars-exploration/
● https://www.dji.com/global
● https://www.britannica.com/technology/robot-technology
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Chapter 4:
Conclusion
Robots have revolutionized various industries and turned our everyday life into
something that now includes healthcare and defense. The evolution of robots as
mechanical devices to AI-powered autonomous systems shows the massive advancement
of technology. There are a variety of robots, including legged, wheeled, aerial, humanoid
and autonomous robots, which serve individual purposes of application efficiency, safety
and innovation.
The future of robotics will surely be in innovations across artificial intelligence, machine
learning and sensor technologies to provide much higher degrees of autonomy and
adaptability. The development of ethics and safety regulations, as well as responsible AI
applications, will most likely be necessary in defining the position of robots in society,
given that they will soon be more and more present in human surroundings.
Research and progress in technology will define automation, space exploration, disaster
response and human assistance areas in which robots are expected to play a central role
in the foreseeable future, while even in the explosion of these boundaries where
machines can achieve their maximum.
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Kunal Garud (SoET)
PRN: 202311116045
Ph.: 9579073855
Mail: kunalgarud2@gmail.com
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