INTRODUCTION TO ROBOTICS

UNIT I -SYLLABUS

 Introduction to robotics
 Brief History
 Basic Concepts of Robotics such as Definition,
 Three laws, Elements of Robotic Systems
 DOF, Misunderstood devices etc
 Classification of Robotic systems on the basis of various
parameters such as work volume, type of drive, etc
 Introduction to Principles & Strategies of Automation types &
Levels of Automations
 Need of automation, Industrial applications of robot
WHAT IS ROBOTICS?
 Robotics is an exciting field of science and technology that
involves creating and controlling robots
 Well, a robot is a machine that can do tasks on its own,

without direct human control

 Robots can be as simple as a toy robot or as complex as a

robot used in a car factory

WHAT DO ROBOTS DO?
 Robots can do all sorts of things!
 Some robots are designed to help with tasks that are too

dangerous or difficult for humans

 Other robots help us in factories to build cars, electronics,

and other products faster and more precisely than humans

can
HOW DO ROBOTS WORK?
 Robots work by using sensors and a computer "brain" to
make decisions
 Imagine a robot as a smart friend with a bunch of senses, like

eyes , ears , and touch sensors

 Then, the robot's computer brain processes all this

information and tells the robot what to do

 TYPES OF ROBOTS
 Industrial Robots: These robots are used in factories to assemble
products, weld, and do other tasks that require precision and
repetition
 Service Robots: These robots help us in our daily lives, like

vacuuming robots, delivery robots, or even robots that assist

people with disabilities
 Medical Robots: Some robots are used in surgeries to help doctors

with very delicate tasks

 Exploration Robots: These robots go to places humans can't easily

reach, like exploring the deep sea or other planets

 Toy Robots: You might have seen or played with toy robots that

can dance, talk, or move around

WHY STUDY ROBOTICS?
 Studying robotics can be a lot of fun!
 It combines science, engineering, and technology

 By learning about robotics, you can understand how

machines work, solve problems, and maybe even invent your

own robots someday
 ROBOTICS TIMELINE
 1922 Czech author Karel Capek wrote a story called Rossum’s
Universal Robots and introduced the word “Rabota”(meaning
worker)
 1954 George Devol developed the first programmable Robot.
 1955 Denavit and Hartenberg developed the homogenous
transformation matrices
 1962 Unimation was formed, first industrial Robots appeared.
 1973 Cincinnati Milacron introduced the T3 model robot, which
became very popular in industry.
 1990 Cincinnati Milacron was acquired by ABB
 ROBOT CLASSIFICATION
The following is the classification of Robots according to the Robotics
Institute of America
 Variable-Sequence Robot : A device that performs the successive

stages of a task according to a predetermined method easy to modify

 Playback Robot :A human operator performs the task manually by

leading the Robot

 Numerical Control Robot : The operator supplies the movement

program rather than teaching it the task manually.

 Intelligent Robot : A robot with the means to understand its

environment and the ability to successfully complete a task despite

changes to the environment.
 ROBOT-DEFINITION
 Defined by Robotics Industry Association (RIA) as
A Re-programmable, multifunctional manipulator designed to move
material, parts, tools or specialized devices through variable
programmed motion for a variety of tasks

Possess certain anthropomorphic characteristics

 (Anthropomorphic" means thinking of non-human things, like animals, objects, or robots, as if
they have human qualities or act like people).
 mechanical arm
 sensors to respond to input
 Intelligence to make decisions
 ROBOT ACCESSORIES
A Robot is a system, consists of the following elements, which are integrated to form
a whole:

Manipulator / Rover : This is the main body of the Robot and consists of links, joints and
structural elements of the Robot.

End Effector : This is the part that generally handles objects, makes connection to other
machines, or performs the required tasks.

It can vary in size and complexity from a end effector on the space shuttle to a small gripper
 ACCESSORIES

Acutators : Actuators are the muscles of the manipulators. Common types of

actuators are servomotors, stepper motors, pneumatic cylinders etc.

Sensors : Sensors are used to collect information about the internal state of the
robot or to communicate with the outside environment. Robots are often
equipped with external sensory devices such as a vision system, touch and
tactile sensors etc which help to communicate with the environment

Controller : The controller receives data from the computer, controls the motions
of the actuator and coordinates these motions with the sensory feedback
information.
 BRIEF HISTORY OF ROBOTS
 The history of robots is a fascinating journey that spans thousands of years,
evolving from ancient myths to modern-day technology:
 Ancient Times:
 Mythological Origins: The concept of robots can be traced back to
ancient myths. For example, in Greek mythology, Hephaestus, the god of
metalworking, created mechanical servants, and Talos, a giant bronze
robot, was designed to protect Crete.
 Ancient Automata: Early automata (self-operating machines) were built
by inventors like Hero of Alexandria in the 1st century AD. These devices
were powered by water, steam, or weights and could perform simple tasks
like opening doors or playing instruments.
 Renaissance Period: (14th to the 17th century)
 During the Renaissance, inventors like Leonardo da Vinci sketched designs
for humanoid robots, such as a mechanical knight that could move its
arms, head, and jaw. Although these designs were never built, they
demonstrated the growing interest in robotics.
 18th and 19th Centuries:
 Clockwork Automata: In this period, clockwork automata became popular, especially in Europe. These were complex
mechanical dolls and animals that could perform intricate movements. Notable examples include Jacques de Vaucanson's
mechanical duck, which could move, quack, and even "digest" food.
 Industrial Revolution: The invention of machines during the Industrial Revolution in the 18th and 19th centuries laid the
groundwork for modern robots. Machines like looms and steam engines began automating tasks, leading to greater efficiency
in manufacturing.
 20th Century:
 Modern Robotics: The term "robot" was first used by Czech writer Karel Čapek in his 1920 play "R.U.R. (Rossum's
Universal Robots)," where robots were artificial workers. This idea captured the imagination of scientists and engineers.
 Early Robots: In the 1940s and 1950s, the first true robots were developed. These were simple machines capable of following
instructions and performing basic tasks. Notable examples include "Unimate," the first industrial robot, introduced in 1961,
which was used in factories to handle repetitive tasks like welding.
 Late 20th Century to Present:
 Advancements in Technology: Over the past few decades, advancements in computer technology, artificial intelligence, and
materials science have led to the development of more sophisticated robots. These robots can perform complex tasks, learn
from their environment, and even interact with humans.
 Types of Modern Robots: Today, robots are used in various fields, including manufacturing, medicine, space exploration, and
entertainment. They range from industrial robots on assembly lines to autonomous robots like drones and humanoid robots
like ASIMO, designed by Honda
 BRIEF HISTORY OF ROBOTS
 The Early Ideas : The concept of robots isn't new; it has fascinated
people for centuries
 The Renaissance and Automatons : During the Renaissance period,
inventors and artists started creating intricate automatons
 The Industrial Revolution : The Industrial Revolution marked a
significant turning point in the history of robotics
 The Term "Robot" : The word "robot" was coined in 1920 by a Czech
playwright named Karel Čapek in his play "R.U.R."
 The Rise of Modern Robots : In the mid-20th century, researchers
and engineers started developing the robots we are more familiar
with today
 Robots in Space : Robots also played a vital role in space
exploration
 Robots in Everyday Life : In recent years, robots have become more
common in our daily lives
 BRIEF HISTORY OF ROBOTS
 The Future of Robotics: The field of robotics continues to
advance rapidly
 BASIC CONCEPTS OF ROBOTICS SUCH AS
DEFINITION, THREE LAWS, ELEMENTS OF
ROBOTIC SYSTEMS I.E. ROBOT ANATOMY
 Definition of Robotics: Robotics is a field of technology and
engineering that deals with the design, construction, operation, and use
of robots
 Three Laws of Robotics: The Three Laws of Robotics were introduced by
science fiction writer Isaac Asimov in his stories and have become a
popular framework for thinking about the ethics and behaviour of robots
 Elements of Robotic Systems : Robotic systems are made up of several
key components or elements
 Sensors: Sensors are like the robot's "senses." They help the robot
understand its environment
 Actuators: Actuators are the "muscles" of the robot
 Controller/Processor: This is the "brain" of the robot
 Power Source: Robots need a source of power to operate
BASIC CONCEPTS OF ROBOTICS SUCH AS DEFINITION,
THREE LAWS, ELEMENTS OF ROBOTIC SYSTEMS I.E.
ROBOT ANATOMY
 Mechanical Structure: The physical body of the robot,
including its frame, chassis, and any mechanical components
like arms or legs
 Software: Robots are programmed with software that tells

them what to do
 End-Effector : Some robots have specialized tools or grippers

at the end of their arms that allow them to interact with

objects or perform specific tasks
DEGREE OF FREEDOM IN ROBOTICS
 Think of degrees of freedom as the ways a robot can move
RIGID BODY
 A rigid body, like a fixed platform, has 0 degrees of freedom
because it cannot move or rotate independently
LINEAR MOTION
 A robot with a single linear actuator that can only move along
a straight line has 1 degree of freedom
PLANAR ROBOTS
 Planar robots, which operate in a 2D plane, typically have 2
degrees of freedom
 For example, a robot arm with two rotational joints
SPATIAL ROBOTS
 Spatial robots operate in three-dimensional space and often
have 6 degrees of freedom, which allows them to move and
orient themselves in space
 A common configuration for a spatial robot is three rotational

joints and three translational joints

MANIPULATOR ARMS
 Industrial robot manipulator arms often have 6 or more
degrees of freedom, allowing them to perform complex tasks
that involve both positioning and orienting objects
HUMANOID ROBOTS
 Humanoid robots aim to mimic human motion and typically
have 20 or more degrees of freedom, with multiple joints in
their arms, legs, and other body parts
 Robots with more degrees of freedom are generally more

versatile but also more complex to control

 Engineers and roboticists carefully design robots with the

appropriate number of degrees of freedom for their intended

tasks
 CLASSIFICATION OF ROBOTIC SYSTEMS ON
THE BASIS OF VARIOUS PARAMETERS SUCH AS
WORK VOLUME, TYPE OF DRIVE, ETC

 Robotic systems can be classified based on various parameters,

which makes it easier to understand their different
characteristics and applications
CLASSIFICATION OF ROBOTIC SYSTEMS ON THE BASIS
OF VARIOUS PARAMETERS SUCH AS WORK VOLUME,
TYPE OF DRIVE, ETC

Based on Work Volume

 Stationary Robots: These robots are fixed in one place and

do not move within their workspace.

 Mobile Robots: These robots have the ability to move

within their workspace and can be further categorized into
wheeled, tracked, or legged robots
BASED ON TYPE OF DRIVE
 Electric Robots: These robots are powered by electricity,
typically using electric motors.

 Hydraulic Robots: These robots use hydraulic fluid to

generate motion and are known for their high power and
strength.

 Pneumatic Robots: Pneumatic robots use compressed air

to create motion, making them suitable for applications
where lightweight and fast movement is required
 BASED ON DEGREE OF FREEDOM
 Fixed Robots: These robots have a fixed configuration and
cannot change their shape or orientation.

 Articulated Robots: These robots have multiple joints, allowing

them to move in various directions and perform complex tasks.

 SCARA Robots : SCARA robots have two parallel rotary joints

and are often used for assembly tasks.

 Delta Robots: These robots use three arms connected to a fixed

base and are known for their speed and precision
BASED ON APPLICATION
 Industrial Robots: Designed for tasks in manufacturing and
assembly, such as welding, painting, and material handling
 Medical Robots: Used in the medical field for surgeries,

diagnostics, and patient care

 Agricultural Robots: Designed for tasks like planting,

harvesting, and monitoring crops

 Space Robots: Developed for space exploration and

activities, such as the Mars rovers

BASED ON AUTONOMY
 Manual Robots: These robots are controlled entirely by
human operators
 Semi-Autonomous Robots: These robots can perform some

tasks independently but require human intervention for more

complex decisions
 Fully Autonomous Robots: These robots can operate

without human intervention, relying on sensors and AI for

decision-making
 BASED ON CONTROL SYSTEM
 Open-Loop Robots: These robots follow predefined instructions
without feedback or sensor input
 Closed-Loop Robots: These robots incorporate sensors to provide

feedback and make real-time adjustments to their actions

 Resolution: Think of resolution like the zoom on your camera or

how closely you can draw lines on paper

 Accuracy: Accuracy is all about how close a robot can get to where

it's supposed to go
 Repeatability: Repeatability is like practicing a dance move over

and over again and making sure you do it exactly the same way each
time
 Dexterity: Dexterity is like how good you are with your hands when

you're playing with toys or building things with LEGO

BASED ON CONTROL SYSTEM
 Compliance: Think of compliance as the robot's ability to be
gentle and careful when it needs to be
BASED ON CONTROL SYSTEM
 Associated parameters i.e .resolution, accuracy, repeatability,
dexterity, compliance, in robots
 INTRODUCTION TO PRINCIPLES &
STRATEGIES OF AUTOMATION TYPES &
LEVELS OF AUTOMATIONS

 Fixed Automation: Fixed automation, also known as hard

automation, is designed for a specific task or process
 Programmable Automation: Programmable automation
involves machines or systems that can be reconfigured or
reprogrammed to handle different tasks or products
 Flexible Automation: Flexible automation takes programmable

automation a step further by using advanced technologies such

as robotics and computer control systems
 Integrated Automation: Integrated automation refers to the

seamless integration of various automation components and

systems into a unified control system
 LEVELS OF AUTOMATION
 Level 0 : At this level, all tasks are performed by human operators
without any automation assistance
 Level 1 : In level 1, basic automation systems are introduced to

monitor and control specific processes or equipment

 Level 2 : Level 2 involves more sophisticated automation, where

machines or systems take over some of the decision-making

processes
 Level 3 : At this level, automation systems handle most of the

routine tasks, and operators primarily oversee the process

 Level 4 : Level 4 automation focuses on process optimization

using advanced algorithms and artificial intelligence

 Level 5 : This level represents fully autonomous systems where

human intervention is minimal or unnecessary

NEED OF AUTOMATION, INDUSTRIAL
APPLICATIONS OF ROBOT
 NEED FOR AUTOMATION
 Efficiency: Automated machines and robots can work faster and more
accurately than humans
 Consistency: Robots can perform the same task repeatedly without
getting tired or making mistakes
 Safety: In some industries, tasks can be dangerous for humans
 Cost Savings: While setting up automation can be expensive, in the
long run, it can save money by reducing labor costs and increasing
productivity
 Manufacturing: Robots are used on assembly lines to put together
products like cars, electronics, and appliances
 Packaging and Sorting: Robots can package items like food
products, medicines, and consumer goods
 Welding and Cutting: In industries like construction and automotive,
robots are used for welding and cutting metal
 NEED FOR AUTOMATION
 Medical Applications: Surgical robots assist doctors in
performing delicate surgeries with precision
 Agriculture: Robots are used in farming to plant seeds, harvest

crops, and even milk cows

 Space Exploration: Robots like the Mars rovers are used in

space exploration to gather information from other planets where

it's too dangerous for humans to go
 Mining: Robots can go deep underground or into dangerous

environments to extract valuable minerals safely

INDUSTRIAL ROBOTICS

Sections:
1. Robot Anatomy

2. Robot Control Systems

3. End Effectors

4. Industrial Robot Applications

5. Robot Programming
 INDUSTRIAL ROBOT DEFINITION

A general-purpose, programmable machine possessing certain

anthropomorphic characteristics

 Hazardous work environments

 Repetitive work cycle

 Consistency and accuracy

 Difficult handling task for humans

 Multishift operations

 Reprogrammable, flexible

 Interfaced to other computer systems

 ROBOT ANATOMY

Joint3 Link3
 Manipulator consists of joints and links
 Joints provide relative motion End of Arm
 Links are rigid members between joints
 Various joint types: linear and rotary
 Each joint provides a “degree-of-freedom” Link2

 Most robots possess five or six degrees-of- Link1

freedom
Joint2
 Robot manipulator consists of two sections:
 Body-and-arm – for positioning of objects in Joint1
the robot's work volume
Link0
 Wrist assembly – for orientation of objects
Base
MANIPULATOR JOINTS

 Translational motion
 Linearjoint (type L)
 Orthogonal joint (type O)

 Rotary motion
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
JOINT NOTATION SCHEME

 Uses the joint symbols (L, O, R, T, V) to

designate joint types used to construct robot
manipulator
 Separates body-and-arm assembly from wrist

assembly using a colon (:)

 Example: TLR : TR

 Common body-and-arm configurations …

POLAR COORDINATE
BODY-AND-ARM ASSEMBLY

 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)
CYLINDRICAL BODY-AND-ARM ASSEMBLY

 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

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
JOINTED-ARM ROBOT

 Notation TRR:
SCARA ROBOT

 Notation VRO
 SCARA stands for

Selectively Compliant
Assembly Robot Arm
 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
WRIST CONFIGURATIONS

 Wrist assembly is attached to end-of-arm

 End effector is attached to wrist assembly

 Function of wrist assembly is to orient end effector

 Body-and-arm determines global position of end effector
 Two or three degrees of freedom:
 Roll
 Pitch
 Yaw
 Notation :RRT
EXAMPLE

 Sketch following manipulator configurations

 (a) TRT:R, (b) TVR:TR, (c) RR:T.

Solution:
R
R
T T R
R T
R
R V

T T

(a) TRT:R (b) TVR:TR (c) RR:T

JOINT DRIVE SYSTEMS

 Electric
 Uses electric motors to actuate individual joints
 Preferred drive system in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Noted for their high power and lift capacity
 Pneumatic
 Typically limited to smaller robots and simple material
transfer applications
ROBOT CONTROL SYSTEMS
 Limited sequence control – pick-and-place
operations using mechanical stops to set
positions
 Playback with point-to-point control –
records work cycle as a sequence of points, then
plays back the sequence during program
execution
 Playback with continuous path control –
greater memory capacity and/or interpolation
capability to execute paths (in addition to points)
 Intelligent control – exhibits behavior that
makes it seem intelligent, e.g., responds to
sensor inputs, makes decisions, communicates
with humans
ROBOT CONTROL SYSTEM

Cell
Cell Level 2
Supervisor
Supervisor

Controller
Controller Level 1
&
& Program
Program

Joint
Joint 1
1 Joint
Joint 2
2 Joint
Joint 3
3 Joint
Joint 4
4 Joint
Joint 5
5 Joint
Joint 6
6 Sensors
Sensors Level 0
END EFFECTORS
 The special tooling for a robot that enables it to
perform a specific task
 Two types:
 Grippers – to grasp and manipulate objects (e.g.,
parts) during work cycle
 Tools – to perform a process, e.g., spot welding,
spray painting
GRIPPERS AND TOOLS
WORKING ENVELOPE
INDUSTRIAL ROBOT APPLICATIONS

1. Material handling applications

 Material transfer – pick-and-place, palletizing
 Machine loading and/or unloading
 Processing operations
 Welding
 Spray coating
 Cutting and grinding
 Assembly and inspection
ROBOTIC ARC-WELDING CELL

 Robot performs
flux-cored arc
welding (FCAW)
operation at
one
workstation
while fitter
changes parts
at the other
workstation
ROBOT PROGRAMMING

 Lead through programming

 Work cycle is taught to robot by moving the manipulator through the
required motion cycle and simultaneously entering the program into
controller memory for later playback
 Robot programming languages
 Textual programming language to enter commands into robot controller
 Simulation and off-line programming
 Program is prepared at a remote computer terminal and downloaded to
robot controller for execution without need for lead through methods
 LEADTHROUGH PROGRAMMING

1. Powered lead through

 Common for point-to-point
robots
 Uses teach pendant
 Manual lead through
 Convenient for continuous path
control robots
 Human programmer physical
moves manipulator
LEADTHROUGH PROGRAMMING
ADVANTAGES
 Advantages:
 Easily learned by shop personnel
 Logical way to teach a robot
 No computer programming

 Disadvantages:
 Downtime during programming
 Limited programming logic capability
 Not compatible with supervisory control
ROBOT PROGRAMMING

 Textural programming languages

 Enhanced sensor capabilities
 Improved output capabilities to control external equipment
 Program logic
 Computations and data processing
 Communications with supervisory computers
COORDINATE SYSTEMS

World coordinate system Tool coordinate

system
MOTION COMMANDS

MOVE P1
HERE P1 - used during lead through of manipulator
MOVES P1
DMOVE(4, 125)
APPROACH P1, 40 MM
DEPART 40 MM
DEFINE PATH123 = PATH(P1, P2, P3)
MOVE PATH123
SPEED 75
INTERLOCK AND SENSOR
COMMANDS

Interlock Commands
WAIT 20, ON
SIGNAL 10, ON
SIGNAL 10, 6.0
REACT 25, SAFESTOP
Gripper Commands
OPEN
CLOSE
CLOSE 25 MM
CLOSE 2.0 N
SIMULATION AND OFF-LINE
PROGRAMMING
EXAMPLE

A robot performs a loading and unloading operation

for a machine tool as follows:
§ Robot pick up part from conveyor and loads into machine
(Time=5.5 sec)
§ Machining cycle (automatic). (Time=33.0 sec)
§ Robot retrieves part from machine and deposits to outgoing
conveyor. (Time=4.8 sec)
§ Robot moves back to pickup position. (Time=1.7 sec)

Every 30 work parts, the cutting tools in the machine

are changed which takes 3.0 minutes. The uptime
efficiency of the robot is 97%; and the uptime
efficiency of the machine tool is 98% which rarely
overlap.
Determine the hourly production rate.
SOLUTION

Tc = 5.5 + 33.0 + 4.8 + 1.7 = 45 sec/cycle

Tool change time Ttc = 180 sec/30 pc = 6 sec/pc
Robot uptime ER = 0.97, lost time = 0.03.
Machine tool uptime EM = 0.98, lost time = 0.02.
Total time = Tc + Ttc/30 = 45 + 6 = 51 sec = 0.85 min/pc
Rc = 60/0.85 = 70.59 pc/hr

Accounting for uptime efficiencies,

Rp = 70.59(1.0 - 0.03 - 0.02) = 67.06 pc/hr
INTRODUCTION TO ROBOTICS
A common view : Robots as Humanoids

We will be studying Industrial manipulator

type Robots.
AGENDA
 Introduction to Robotics
 Classification of Robots

 Robot accessories

 Robot coordinates

 Work volumes and Reference Frames

 Robot Programming

 Robot Applications in Lean Mfg.

ROBOT ACCESSORIES
A Robot is a system, consists of the following
elements, which are integrated to form a whole:

• Manipulator / Rover : This is the main body of the Robot

and consists of links, joints and structural elements of the
Robot.

• End Effector : This is the part that generally handles

objects, makes connection to other machines, or performs
the required tasks.

• It can vary in size and complexity from a end effector on

the space shuttle to a small gripper
 ACCESSORIES
Ø Acutators : Actuators are the muscles of the manipulators.
Common types of actuators are servomotors, stepper
motors, pneumatic cylinders etc.

Ø Sensors : Sensors are used to collect information about

the internal state of the robot or to communicate with the
outside environment. Robots are often equipped with
external sensory devices such as a vision system, touch
and tactile sensors etc which help to communicate with the
environment

Ø Controller : The controller receives data from the

computer, controls the motions of the actuator and
coordinates these motions with the sensory feedback
information.
ROBOT CONFIGURATIONS
Some of the commonly used configurations in Robotics
are

 Cartesian/Rectangular Gantry(3P) : These Robots are

made of 3 Linear joints that orient the end effector, which
are usually followed by additional revolute joints.
CARTESIAN ROBOT - WORK ENVELOPE
ROBOT CONFIGURATIONS (CONT’D)
 Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints
and one revolute joint.
CYLINDRICAL ROBOT - WORK ENVELOPE
ROBOT CONFIGURATIONS (CONT’D)
 Spherical joint (2RP): They follow a spherical coordinate system, which
has one
SPHERICAL ROBOT - WORK ENVELOPE
ROBOT CONFIGURATIONS (CONT’D)
 Articulated/anthropomorphic(3R) :An articulated robot’s joints are all
revolute, similar to a human’s arm.
ROBOT CONFIGURATIONS (CONT’D)
 Selective Compliance Assembly Robot Arm (SCARA) (2R1P): They
have two revolute joints that are parallel and allow the Robot to move in a
horizontal plane, plus an additional prismatic joint that moves vertically
ROBOT CONFIGURATIONS
REFERENCE FRAMES
 World Reference Frame which is a universal coordinate frame, as defined
by the x-y-z axes. In this case the joints of the robot move simultaneously
so as to create motions along the three major axes.

 Joint Reference Frame which is used to specify movements of each

individual joint of the Robot. In this case each joint may be accessed
individually and thus only one joint moves at a time.

 Tool Reference Frame which specifies the movements of the Robots hand
relative to the frame attached to the hand. The x’,y’and z’ axes attached
to the hand define the motions of the hand relative to this local frame. All
joints of the Robot move simultaneously to create coordinated motions
about the Tool frame.
ROBOT REFERENCE FRAMES
WORK ENVELOPE CONCEPT
 Depending on the configuration and size of the links
and wrist joints, robots can reach a collection of
points called a Workspace.

 Alternately
Workspace may be found empirically, by
moving each joint through its range of motions and
combining all space it can reach and subtracting
what space it cannot reach
Pure Spherical Jointed Arm - Work envelope
2) Parallelogram Jointed
 EXERCISE
READINESS ASSESSMENT TEST A.K.A. RAT

AS A INDIVIDUAL,
INDIVIDUAL prepare a
detailed response for the
following Readiness
Assessment test
What type of Robot Configuration
does the ABB 140 Robot have?
Can you find out its Work
Space?
WRIST
 typically has 3 degrees of freedom
 Rollinvolves rotating the wrist about the arm axis
 Pitch up-down rotation of the wrist
 Yaw left-right rotation of the wrist
 End effector is mounted on the wrist
WRIST MOTIONS