ROBOTICS

An Industrial Robot is a general purpose, Programmable machine processing

certain anthropomorphic characteristics. The mask obvious anthropomorphic
characteristics of an Industrial robot is its mechanical arm. Which is used to perform
various industrial tasks. Other human like characterstastics are the robot’s capabilities to
respond to sensory inputs, communicate with other machines & make decisions. these
capabilities permits robots to perform a variety of useful tasks.

ROBOT ANATOMY

The manipulator of an industrial robot consists of a series joints &links. Robot anatomy
is conurned.with the types &sizes of these joints, links& other aspects of the
manipulators physical construction.

1. Joints&links:-It provide relative motion between two parts of the body each joints or
axis as it is sometimes called provides the robot with a so called degree of freedom of
motion

Five joints types are

1.linear joint (type l Joint)

2.orthogonal joint (type o Joint)
3.Rotational joint (type R joint)
4.twisting joint (type T joint)
5.Revolving joint (type v joint)

2.Robot manipulator:- A robot manipulator can be divided into two section a body
&arm assembly &a wrist assembly. These are usually three degree of freedom associated
with the body & arm, either two or three degree of freedom associated with the wrist.

Body & arm configuration:-

There are only five basics configurations commonly available in commercial industrial
Robots.

These five configurations are:

1. Polar configuration:- this configuration consists of a sliding arm (L joint) actuated

relative to the body. Which can rotate about both the vertical axis (T joint) & horizontal
axis (R joint)

2. Cylindrical configuration:-This robot configuration consists of a vertical

column,relative to which an arm assembly is moved up or down. The arm can be moved
in & out relative to the axis of the column. An L joints is used to move the arm assembly
vertically along the column while arc joint is used to achieve radial movement of the arm.
3. Cartesian co-ordinate robot: other names for this configuration include rectilinear
robot & x-y-z robot. It is composed of three, sliding joints. Two of which are orthogonal.
a.Jointed arm Robot: this robot manipulator has the general configuration of a human
arm. The jointed arm consists of a vertical column that swivels about the base using a t-
joint at the top of the column is shoulder joint. Whose, o/p link connects to an elbow
joint.
4. SCARA: SCARA is an acronym for selective compliance assembly robot arm. This
configuration is similar to the jointed arm robot except that the shoulder & elbow
rotational axis are vertical, which means that the arm is very rigid in the vertical
direction, but compliant in the horizontal direction, this permits, the robots to perform
insertion tasks, in a alignment may be needed to mate the two parts properly.

WRIST CONFIGURATION
The robot’s wrist is used to establish the orientation of the endeffector, robot wrists
usually consists of two or three degree of freedom.
The three joints are defined as hollows
1.Roll, using at joint to accomplish rotation about the robot’s arm axis.
2.Pitch, which involves up & down rotation, typically using a r joint.
3.Yaw, which involves right& left rotation, also accomplished by means of an R joints.

ROBOT APPLICATIONS.

1.Hazardous work for humans:- when the work & the environment in which it is
performed are Hazardous, un safe, unhealthful, uncomfortable or otherwise un pleasant
for humans, it is desirable, to consider an industrial robot for the task
A. Repetitive work cycle: a second characteristic that tends to promote the use of robotics
is an repetitive work cycle. Greater consistency & repeatability are usually manifested as
higher product quality than can be achieved in a manual operation.
B. Difficult handling for humans:- If the task involves the handling of parts or tools that
are heavy or otherwise difficult to manipulate an industrial robot may be available that
can perform the operation.
C. Multishift operation:- In manual operation requiring second& third shifts, substitution
of a robot provide a must faster financial pay back than single shifty operation.
4. Infrequent changeover:-Most Batch on job shop operations require a changeover of the
physical workplace between one job & the next consequently, Robots have traditionally
been easier to justify for relatively long production runs where changeovers are frequent .

ROBOT PROGRAMMING
A Robot Programming can be defined as a part in space to be followed by the
Manipulator, combined with peripheral action that support the work cycle.

Example of the peripheral action includes opening & closing the gripper, performing
logical decision making.
 Nearly all-industrial Robot has digital computers as their controllers & computing
storage devices as their memory units. For these Robots, these programming methods can
be distinguished.
1.Lead through programming
2.Computer like Robot programming language
3.Off-line programming

ROBOT PROGRAMMING LANGUAGES

Textual programming languages for robot provide the opportunity to perform the
following functions that lead through programming cannot readily accomplish.
1.Inhanced sensor capabilities, including the use of analog as well as digital input &
output.
2.Improved output capabilities for controlling external equipment.
3.Program logic that is beyond the capabilities of lead through methods.
4.Computation &date processing similar to computer programming languages.
5.Communications with other computer systems.

Motion Programming:- Motion Programming with robot language usually requires a

combination of textual statement &lead through techniques. According this method of
Programming is sometimes referred to as Online/offline programming

The textual statements are used to describe the motion & the leads through methods are
used to define. The position orientation of the robot during & at the end of the motion.

Computation program logic:-

Many Robot language possessed capabilities for performing computation & data
processing operation that are similar to computer programming languages. Most present
day robot applications do not require a high level of computation power.
Advantages of Robot

1.High degree of precision & accuracy.

2.Reduces labour cost.
3.Can work for infinitely long period without fatigue.
4.operation time reduces.
5.Can work in any hazardous condition.
6.Muliple operation can be handled.