RGUKT, Nuzvid

RGUKT, Nuzvid ROBOTICS

 By K.Lakshmi Kanth
Assistant Professor(c)
RGUKT Nuzvid

RGUKT, Nuzvid ROBOTICS

 Topics

Already designed robots

Manual Robots
Autonomous Robots
Degrees of freedom
Links and Joints
Industrial Arm robots
Arm design

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Already designed robots:
Manav: It is India's first-3D printed humanoid robot. It has
an inbuilt vision and sound processing capability which
allows it to walk, talk and dance-just in response to human
commands.
Mitra: The first indigenously built humanoid robot is
capable of interacting with humans smartly. Mitra can
recognise the guests with face recognition.
Robocop: AI based robotics has developed a police robot to
assist in handling the law, order, and traffic management in
Hyderabad. It is equipped with cameras and an array of
different sensors like ultrasonic, proximity and temperature
sensors. The robot is designed to protect and secure places
like offices, malls, airports, signal posts and other public
spaces. The robocop can diffuse bombs too.
RGUKT, Nuzvid ROBOTICS
The distance can be calculated with the following
formula (for Ultra Sonic Sensor)

Distance L = 1/2 × T × C

where L is the distance, T is the time between the

emission and reception, and C is the sonic speed

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 Manav

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 Mitra
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Hyderabad becomes the first city in the country to deploy a
police robot for commercial operations.
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ROBOTIC
 Already designed robots:

Kempa and RADA : It is programmed to provide flight and

check-in details and other information about flights. It
also suggests places to visit in the state also engages in
casual conversation with passengers. It will give answers
to confused passengers in English as well as kannada.

IRA(intelligent robotic assistant): it essentially help

branch staff in servicing customers. It has been developed
using robotics and AI technologies. It guide them to
relevant counter in the branch such as cash deposit,
foreign exchange, loans among others. It has features such
as voice recognition and face recognition.
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 RADA

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 IRA

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Already designed robots:
Lakshmi: In 2016, Lakshmi, an Artificial Intelligence-
powered robot had made its debut on the big stage at
the City Union Bank based in Chennai, Tamil Nadu. The
humanoid was introduced by the bank to deal with the
humongous number of customer queries.

INDRO: It is an autonomous robot was made inside a

house. It can be used for light weight tasks like
entertainment, education and a few household
works. It can be controlled both autonomously and
manually , it has 31 motors and can perform actions
like a human.(open source)

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 INDRO

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Already designed robots:
DRDO Daksh: This robot is primarily designed to detect
and recover improved explosive devices. using its x-ray
vision ,Daksh can identify a hazardous object and can
diffuse it with a jet of water. It is capable of climbing
staircase and negotiating cross-country terrains.
Additionally , it can be operated from a distance of 2.5
kilometers and can be handle car explosives with its
high-calibre shotgun.

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 DRDO Daksh

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Manual and Autonomous robots:
Manipulator:
In robotics a manipulator is a device used to manipulate
materials without direct contact.
Manual Robots, as the name suggests, require human
intervention for controlling and guiding the robot.
manual robots are used for performing complex and
arduous jobs.
Manual type robots can be divided into two main types:
 Articulated
 exoskeletons

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Articulated robot:
 Articulated robot, as the name suggests, consists of a balanced
manipulator consisting of various joints with a separate actuator
for each one of them.
 One of the joints with a grip or tool will hold the load, within a
particular range, and will move according to signals fed to the
control system for each of the individual joint’s actuator.
 A proper synchronization of all these joints will move a load from
one point to another. Generally used for handling heavy materials,
articulated type robots are easy to use but require good handling
skills.
 The control signals given to each of the actuator should be precise
in comparison to the signals fed to the actuators of other joints.
 Thus, functioning and controlling of an articulated robot mainly
consists of feeding the right signal to the right actuator at the
right time.
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Factory Automation Robotics Palletizing Bread
Automation of foundry with robot

KUKA robot for flat glas handling

spot welding robot
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Exoskeleton robot:

 An exoskeleton manipulator consists of a peculiar type of robot

mechanism wherein each joint of the manipulator control
system corresponds with that of a human arm or leg.
 When a particular joint of the operator is moved, the
manipulator joint which corresponds to that particular human
joint also moves.
 The motion of the human joint generates a control signal that
moves the corresponding manipulator accordingly.
 The joints are connected to drives that are again connected to
tools that do the needed job.
 This type of manipulator is generally used for doing arduous
assignments such as lifting heavy weights .

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What is autonomy?
Autonomy is the ability to make your own decisions.

Autonomous robots:

 just like humans, also have the ability to make their own
decisions and then perform an action accordingly.

 A truly autonomous robot is one that can perceive its

environment, make decisions based on what it perceives
and/or has been programmed to recognize and then actuate a
movement or manipulation within that environment.

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key components:
The key components to the autonomous action includes
: perception, decision, and actuation.

Perception: For people, this is mostly our five senses.

Eyes, ears, skin, hair, and many other biological
mechanisms are used to perceive the world. For a robot,
perception means sensors. Laser scanners, stereo vision
cameras (eyes), bump sensors (skin and hair), force-
torque sensors (muscle strain), and even spectrometers
(smell) are used as input devices for a robot.

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Decision:
 For humans, it’s our brain that makes most of the decisions; or
our neural system. Our brains make higher level decisions..
 The “brain” of a robot is usually a computer, and it makes
decisions based on what its mission is, and what information it
receives along the way.
 But robots also have a capability that is similar to the
neurological system in humans, where their safety systems
operate faster and without the permission of the brain; in fact
in robots, the brain operates with the permission of the safety
system.

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 In an autonomous robot, we call that “neurological” system an
embedded system; it operates faster and with higher
authority than the computer that is executing a mission plan
and parsing data.
 This is how the robot can decide to stop if it notices an
obstacle in its way, if it detects a problem with itself, or if its
emergency-stop button is pressed.

Actuation : People have actuators called muscles. They take all

kinds of shapes and perform all kinds of functions, from grabbing
a cup of coffee to beating our hearts and pumping blood. Robots
can have all kinds of actuators too, and a motor of some kind is
usually at the heart of the actuator. Whether it’s a wheel, linear
actuator, or hydraulic ram, there’s always a motor converting
energy into movement.

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Degree of Freedom (DOF):
Each joint or axis on the robot introduces a degree of freedom.
Each DOF can be a slider, rotary, or other type of actuator. The
number of DOF that a manipulator possesses is the total of
number of independent ways in which a robot arm can move.
Industrial robots typically have 5 or 6 degrees of freedom. 3 of
the degrees of freedom allow positioning in 3D space (X, Y, Z),
while the other 2 or 3 are used for orientation of the end
effector(yaw, pitch and roll). 6 degrees of freedom are enough
to allow the robot to reach all positions and orientations in 3D
space. 5 DOF requires a restriction to 2D space, or else it limits
orientations. 5 DOF robots are commonly used for handling
tools such as arc welders.

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Robot Links and Joints
In a robot, the connection of different
manipulator joints is known as Robot
Links, and the integration of two or
more link is called as Robot Joints. A
robot link will be in the form of solid
material, and it can be classified into
two key types – input link and output
link. The movement of the input link
allows the output link to move at
various motions. An input link will be
located nearer to the base.

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 A joint of an industrial robot provides relative motion between
two links, and often, only one degree-of-freedom is associated
with each joint.
 Connected to each joint are input link and output links. Links
are the rigid components of the robot manipulator.
 The purpose of the joint is to provide controlled relative
movement between the input link and the output link.
 Industrial robots are often mounted on a fixed base on the floor
as shown in Fig.
 The base is connected to the first joint. It is the input link to the
first joint, the first in the series of joints used in the
construction of the robot.
 The output link of this joint is the input link to the next joint,
whose output link is also the input link to another joint.

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Translational Motion
1. Linear joint
The L–joint: The translational movement between the input and output link is a
sliding movement, with its axes parallel. Telescopic cylinders is an example of such
joints.
2. Orthogonal joint
The O–joint: This is similar to the L–joint, but its input and output axes are
perpendicular.

Rotary Motion
3. Rotational joint
The R–joint: This joint moves in a rotary motion, its input and output axes are
perpendicular.
4. Twisting joint
The T–joint: This is also a rotary movement, the input and output axes are
perpendicular.
5. Revolving joint
The V–joint: Similar to the T–joint joint, the output link spins around the input
link, but the output axis is parallel to the rotational axis.

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Different types of industrial ARM robots:

There are six main types of

industrial robots:
 vertically articulated
 Cartesian
 Cylindrical
 Polar
 SCARA
 Delta

Each of these types offers a different joint configuration.

The joints in the arm are referred to as axes.

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Common Types of Industrial Robots:

Articulated - This robot design features rotary joints and can range
from simple two joint structures to 10 or more joints. The arm is
connected to the base with a twisting joint. The links in the arm are
connected by rotary joints. Each joint is called an axis and provides
an additional degree of freedom, or range of motion. Industrial
robots commonly have four or six axes.

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Cartesian - These are also called rectilinear or gantry
robots. Cartesian robots have three linear joints that use
the Cartesian coordinate system (X, Y, and Z).

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Cylindrical - The robot has at least one rotary joint at the base
and at least one prismatic(it provides linear movement between
two bodies and it is called as slider) joint to connect the links.
The rotary joint uses a rotational motion along the joint axis,
while the prismatic joint moves in a linear motion. Cylindrical
robots operate within a cylindrical-shaped work envelope.

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Polar - Also called spherical robots, in this configuration the
arm is connected to the base with a twisting joint and a
combination of two rotary joints and one linear joint. The
axes form a polar coordinate system and create a spherical-
shaped work envelope.

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SCARA(Selective Compliance Assembly Robot
Arm or Selective Compliance Articulated Robot
Arm.) - SCARA is the jointed two-link arm layout similar to
our human arms, hence the often-used term, Articulated.

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Delta - These spider-like robots are built from jointed
parallelograms connected to a common base. The
parallelograms forms a dome-shaped work area. Heavily used
in the food, pharmaceutical, and electronic industries, this
robot configuration is capable of delicate, precise movement.

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Arm Design:
Robot Links and Joints
In a robot, the connection of different manipulator
joints is known as Robot Links, and the integration of
two or more link is called as Robot Joints. A robot link
will be in the form of solid material, and it can be
classified into two key types – input link and output link.
The movement of the input link allows the output link
to move at various motions. An input link will be
located nearer to the base.

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RGUKT, Nuzvid ROBOTICS
Translational Motion
1. Linear joint
The L–joint: The translational movement between the input and output link is a
sliding movement, with its axes parallel. Telescopic cylinders is an example of such
joints.
2. Orthogonal joint
The O–joint: This is similar to the L–joint, but its input and output axes are
perpendicular.

Rotary Motion
3. Rotational joint
The R–joint: This joint moves in a rotary motion, its input and output axes are
perpendicular.
4. Twisting joint
The T–joint: This is also a rotary movement, the input and output axes are
perpendicular.
5. Revolving joint
The V–joint: Similar to the T–joint joint, the output link spins around the input
link, but the output axis is parallel to the rotational axis.

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Industrial arm design:
Industrial robots come in a variety of shapes and sizes. They are capable of
various arm manipulations and they possess different motion systems.
a) Cartesian Configuration:
Cartesian robot is formed by 3 prismatic joints, whose axes are coincident
with the X, Y and Z planes. In the Cartesian coordinate configuration , the
three orthogonal directions are X,Y and Z. X-coordinate axis may represent
left and right motion; Y- coordinate axis may describe forward and backward
motion; Z-coordinate axis may be used to represent up and down motions.
Motions in any coordinate axis is independent of the other two. The
manipulator can reach any point in a cubic or cuboid volume of space. It
allows three DOFs(x, y, z) in translation only.

Applications:
Pick and Place operations, automated loading and
Milling operations, Nuclear Material handling,
Welding etc.

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b) Spherical Configuration:
In the Spherical coordinate configuration , the robot has one
linear and two angular(the motion of a body about a fixed
point or fixed axis) motions. The linear motion, corresponds
to a radial in or out translation, the first angular motion
corresponds to a base rotation, and second angular motion is
one that rotates about an axis perpendicular to the vertical
through the base and is sometimes termed as elbow rotation..
Sometimes, the spherical coordinate system is referred to as
polar coordinate system.

Applications:
Die Casting, Dip Coating, Glass Handling, Heat
Treating,
Machine Tool Handling, Material Transfer, Parts
cleaning, Press Loading etc.
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c) Cylindrical Configuration:
A cylindrical robot has a two orthogonal prismatic(linear) axes
of movement (horizontal and vertical) and one revolute axis,
forming a cylindrical coordinate system. It is capable of higher
horizontal plane speeds vs. Cartesian systems due to the
revolute base. The resolution of the positioning of the end
effector is not constant, but depends on the degree
of extension along the horizontal axis.

Applications:
Coating Applications, Die Casting, Inspection
Moulding, Investment Casting, Machine
Loading and Unloading etc.

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d) SCARA:
It consists of two or more revolute joints and one prismatic
joint(means it provides a linear sliding movement between two
bodies), all of which operate parallel to gravity, easing the
mechanical burden.
The kinematics of this configuration are quite complex. The
resolution of the positioning of the end effector is not constant
throughout the workspace, but these robots do have a high
degree of positional repeatability. They are generally faster and
more expensive than Cartesian systems.

Applications:
Assembly operations, Pick and Place
work etc.

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