3 D - Tutorial For Robo Fundamentals

3 D – Tutorial For Robo Fundamentals
CHAPTER 1
INTRODUCTION TO ROBOTICS
AS can be imagined from the confused usage of the word 'robot' since
RUR, conceptions vary of what a robot actually consists of. Even when it comes to the
comparatively recent concept of the 'industrial robot' there is no international agreement
about definitions - it is comparatively arbitrary where the 'boundaries' of the term are
drawn. Thus, in Japan a pick and place device (a simple mechanical arm whose motions
are governed by hitting mechanical end-stops .it termed a robot, whereas in the West. due
to the lack of any inherent flexibility in the device (unless someone physically moves the
end-stops) it is considered to be a special case of fixed automation, rather than a robot.
The robot is defined as the programmable, multifunctional manipulator
design to move material,parts,tools or special devices through variable programmed
motions for the performance of a variety of tasks.
1.1 HISTORY OF ROBOTICS
Throughout recorded history man has had a pre occupation with sentient
machines madein ancient Greek myths, the god of fire, Hephaestus, was supposed to be
accompanied and aided by two pure gold living statues, and he later constructed a brass
giant talus to guard Crete against all intruders. In real life but still over two thousand
years ago. Hero of Alexandria wrote his treatise on pneumatics in which he described a
large number of automata such as moving figures and singing birds - rather like an
Ancient Greek Disneyland. It is remarkable that such sophisticated toys were the only
real use ever made of pneumatics for centuries.
Govt. Poly.,Washim 1
About 1500, Leonardo da Vinci built a mechanical lion in honour of Louis
XII which, when the king entered Milan, moved forward, clawed open its chest, and
pointed at the coat of arms of France! Such mechanical automata remained the vogue for
the next four centuries, with ever increasing complexity and sophistication, yet it was not
until the early twentieth century that the actual word 'robot' came into the English
language from the translation in 1923 of a Czech play RuR (rossums Universal Robots)
by the philosopher Karel Capek (C' pronounced as CH). The actual 'robots' in the play are
in fact biologically grown and. other than a lack of emotions, are indistinguishable from
humans. The term 'robot' itself is derived from the Czech 'robota' meaning 'compulsory
labor and from 'robotnik' meaning 'serf. Although the creations in the play would now he
termed 'androids' rather than robots (which are now considered to be mechanical) the
misuse of the word is of course universal.
The word 'robotics' was invented by the master science fiction writer
Isaac Asimov in his now classic robot stories which at the time of writing were unusual in
that they told of robots which not only did not harm humans but actually helped them! It
was in one of these stories called ‘Runaround’ which appeared in the March 1942 issue of
‘Astounding Science fiction’ that Asimov first propounded the famous Three Laws of
Robotics.
1 A robot may not injure a human being or, through inaction allow a human being to
come to harm.
2 A robot must obey the orders given to it by human beings except where those orders
would violate the First Law.
3 A robot must protect its own existence, except where that would violate the First or
Second Law.
Although Asimov did not realise it at the time, this was the first printed
appearance of the word ‘robotics’. Joe Engelberger, founder of Unimation and considered
by many to he the 'Lather' of modern industrial robotics, has pointed out that the Three
Laws remain worthy design standards for roboticists to this day.
1.2 THE REVOLUTION OF ROBOTICS
1984-1990
What about robotic developments during the 1980s? Well, it seems likely
that many of the research areas covered in the last chapter will indeed graduate to being
industrially feasible. SCARA-type arms seem likely to become very common for
assembly work, while a few more novel designs may become established. It seems likely
that many conventional designs will he 'upgraded' by using different materials for
construction, such as carbon-reinforced resin. The average robot will contain far higher
computing power than earlier in the decade, and increasingly textual programming (with
a limited capability teach-pendant) will be used in place of purely 'walk-through'
techniques. With vast numbers of people learning basics as their first computer language
(owing to the explosion of personal computers), many robotic textual languages will
remain unstructured, despite the backing of more advanced languages by companies such
as IBM. Unimation's VAL. could well become the de facto standard for this level.
As robot tasks become more complex, however, advanced languages such
as AMI will become increasingly necessary, and with pressure from IBM. may well
become something of a standard. A new breed of 'robot programmers' (rather than
personnel with other functions who nevertheless can program) may start to emerge.
Nevertheless, developments in computing science, inspired by the fifth-generation
computer project, will be likely eventually to simplify significantly the programming
task, so making if possible for less specialized personnel to cope satisfactorily with the
majority of such work. One of the major areas likely to require such programming will be
assembly. Even so, by the end of the decade, although robotic assembly will have started
to make a significant contribution, it seems probable that only some of the larger
companies will have actually become heavily involved, with many of the more traditional
firms still concerned by the high-technology involved, The substantial economic
advantages of using robots for assembly may by then have just started to force companies
to robotise, but only gradually.
This process will he hastened by the availability of comparatively low-cost
vision systems costing only a small fraction of the overall robot cost (as opposed to about
the same). These systems will typically employ several grey levels, but colour and 3D arc
likely to he still only used for specialist applications. Tactile sensors (as well as simple
touch) will increasingly be used, but problems in sensor design, together with an initially
smaller market are likely to make them comparatively expensive compared with vision.
By the end of the decade, in the research laboratories, third-
generation 'intelligent' robots will be just starting to appear, and the computer
components in them may cost only about one thirtieth of the equivalent components five
years earlier. Yet on the factory floor, this is likely to result not in cheaper controllers, but
in more powerful ones. The mechanical parts of a robot arm will largely remain as
expensive as before, although increased computing power may allow the inherent
inadequacies of mechanically simpler designs to be satisfactorily compensated for, and
inherently far less rigid arm structures to be controlled effectively.
1990-2000
In the early 1990s robots may start to be employed for handling flexible
materials such as textiles and rubber, which requires highly sophisticated control
software. Occasional use may be made of special robots in certain surgical operations, but
as with undersea and space work, together with agriculture, mining and nuclear work,
true robots are still unlikely to be sufficiently advanced to be suitable for truly
autonomous operation in such fields. Much more likely (at that stage) are forms of tele-
operator devices controlled by a human rather than computer. Nevertheless, research into
autonomous robots for such tasks will be highly advanced. Research into other areas
however, such as robotic assistance for the aged and disabled, is unlikely to have been
sufficiently funded (except possibly in Japan) for there to be much evidence of such work
outside the occasional research center.
Already, in 1984. a special welding robot, manufactured at the Petrozavod
shipyard, is used in Leningrad to operate in any position inside a ship's hull. Increasingly,
mobility will be required for some (never all) industrial robotic tasks - especially when a
robot's capabilities are required intermittently at several separate locations such as when
tending several devices all with long machining cycles. Suitable mobile robots will
consequently be developed, together with less flexible systems comprising a robot on a
long 'track' - appropriate for more structured environments.
Despite increasily sophisticated 'toys', the true domestic robot still will not
have appeared in the 1990s, although many believe that it may be quite close this time at
least for some applications! Robotic vacuuming, polishing, table laying, loading of
dishwashers and lawn mowing may all just about he possible, although expensive.
Knowing the delight with which the majority of us seem to adore any such gimmick, it
will probably not be too long before such medium-capability domestic robots become
commercially available as gloriously expensive luxuries. Some simple floor-cleaning
robots may even be economically desirable for use in such buildings as office blocks.
1.3 PRESENT DEVELOPMENT
Automated guided vehicles
Because of the inflexibility of traditional wire-guidance systems, advanced
research is being conducted into free-roving mobile robots using internal navigation
systems to maintain position fixes and employing elementary maps of their work areas.
The development of such mobile devices involves research into sensors, navigation,
control and communication techniques, many requiring novel software structures. Much
work into mobile wheeled and tracked robots is being conducted in France, including that
at the French National Institute of Applied Science, and on the autonomous robot 'Hilare'
made at the National Centre for Scientific Research.
Automated factories
In the early 1970s the Japanese government instigated the methodology
for unmanned manufacture (MUM) project, with the intention of funding the
development of a largely unmanned factory. Although the project has since been
somewhat scaled down. it is still intended that a small factory will come into operation in
1985 for the manufacture of 15 different component types such as wheels and shafts for
gear boxes, Modular construction will be employed as far as possible, and as well as
conventional CNC machine tools, more revolutionary equipment such as lasers will also
be used. Robots will be employed for loading and unloading of machines and conveyors.
The system will also be able to deal with raw materials,swarf, and bought-out parts.
CADCAM
With the dramatic decrease in the cost of computing power in the 1970s,
together with high-resolution graphic displays and advanced software, it became feasible
to use computers in the drawing office for the preparation of technical drawings. Such
CAD systems can increase the productivity of a draughtsman by three times or more.
Although the systems are still largely used only by the bigger companies, their
sophistication is steadily improving, and increasingly the systems arc able to transfer
engineering data automatically to external management control and information systems.
With the high reliability and ruggedness of modern microelectronics it becomes possible
to locate substantial computing power actually on the shop floor, so allowing the CAD
systems to communicate directly with the CAM equipment in the factory. Such
equipment might include CNC or DNC machine tools (ranging from lathes to milling
machines), robots for loading and unloading them, as well as robots for performing actual
manufacturing tasks.
Much research is being conducted by industry to develop the complicated
software, which will allow CAD and CAM systems to communicate with each other, to
form true CAD CAM packages. In addition, because of the increased usage of sensory
feedback in robotic systems, it is be corning possible to inspect and test products
automatically after they have been manufactured. When such an approach is incorporated
as part of a CADCAM system, the overall approach is sometimes known as CADMAT,
standing for computer-aided design, manufacture and testing.
Farm work
As robots become more sophisticated, so it becomes feasible to use them
outside the structured environment of the factory. Much farm work is very labour
intensive, and serious consideration has been given to robotising the milking process.
Outside of the milking parlour, as free-roving vehicles advance in sophistication it
becomes possible to produce driverless tractors. These can be used for sowing,
ploughing, fertilizing, crop spraying and so on, releasing the farmer for the increasingly
technical job of caring for crops and livestock.
In addition to agriculture, both forestry and fish-farming arc seen as
potential users of robotics technology, and Japan in particular is researching into suitable
approaches for such introductions.
Laboratory work
Robots can be usefully employed in chemistry laboratories for such tasks
as routine sampling and experimental work. Robots have significant advantages in terms
of versatility over the dedicated sample changers on, for instance, gas chromatographs,
because a robot can be programmed for use in several different routines or for carrying
out a sequence of separate procedures. In addition, the microprocessor controlling the
robot can also be used to accept, store and interpret data from an experiment.
Marine work
Although remote controlled underwater vessels linked to the mother ship
by means of an umbilical cable are quite common, there is an increasing requirement for
unmanned submersibles which can operate independently of the surface ship and so, for
example, move underneath oil platforms without catching the umbilical. Teleporation is
currently infeasible because sufficient information cannot be transmitted through water.
Such automatic robot submersibles (ARS) are already being developed by various bodies.
The University of New Hampshire, USA, has developed a rig rather like an octopus
intended for complex underwater tasks such as inspection and mapping. The USA Naval
Ocean Systems Center, on the other hand, have designed a fast, long distance, shark- like
device for search and inspection operations, while British Telecom, UK, have a 'Seadog'
system suitable for construction, rescue and repair.
Meat processing
Although it at first seems an unlikely combination, robots are seriously
Dyeing investigated for their application to meat processing. In response to a request
from a meat-processing company. Imperial College, London, is researching methods for
robotically deboning smoked bacon backs. At present the task is performed in the factory
manually using skilled labour who cut the rib and other bones from the surface of the
bacon backs using a variety of sharp knives suitable for the purpose, before the bacon is
finally sliced. The job is tedious and unpleasant, and the company is finding it
increasingly difficult to recruit replacement personnel for the task.
1.4 APPLICATION OF ROBOTS IN INDUSTRY
Although robots do not as yet possess many of the important capabilities
which come naturally to a human being, such as the ability to react intelligently to
unforeseen problems and changing work environments, the ability to learn from
experience, and the use of subtle hand/eye coordination, nevertheless, through the use
of highly structured work environments (constantly becoming less restricted), robots are
employed in a very wide spectrum of activities. Robots with grippers, or equivalent are
used in materials handling tasks such as debarring, die casting fettling, forging, heat
treatment, investment casting, machine servicing such as loading and unloading, plastic

moulding, and packing, palletizing and stacking. Robot arms can be fitted with various
kinds of tools in place of gripper. These range from various types of applicators suitable
for spray painting, adhesives, surface coating, powdering and sealing, to toe suitable for
tasks such as drilling, countersinking, nut running, grinding and sanding. In addition, the
arm can be used for spot and arc welding, heat treatment and cutting using either flame or
laser, and water jet cleaning. . It is interesting to note, however, that the original concept
of a truly general purpose robot, capable of being used for almost any task from assembly
to spot welding has now largely disappeared. Instead, robots are becoming slightly
specialised, with 'paint spraying robots', 'welding robots', 'assembly robots', and so on,
appearing as distinct types. Although usually capable of performing many other tasks,
each robot design is often particularly suited for a specific niche in the market.
1.5 CONCLUSION:
In this way, we have studied about the robot also have seen the history of
robotics & the generation of robots from 1984-2000.
In this chapter we have studied that the robot in today’s industrial life
plays an important role as it is used in every field.

CHAPTER 2
STUDY OF CONFIGURATIONS
2.1 INTRODUCTION
The essential role of a robot arm is to move a gripper or tool to given
orientations at a given set of points. Mathematically, to be able to orient an object in any
way at any point in space requires an arm with six articulations (or degrees of freedom
(DOF) - three translational (right/left, forward/back, up/down) to get to any point, and
three rotational (pitch, roll, and yaw) to get any orientation. It should be noted that the
addition to a robot of a gripper which can open and shut does not constitute an extra DOF
for the robot, any more than the addition of a drill would.
All robots need the three translational degrees of freedom, but many
dispense with one or more of the pitch, roll and yaw articulations (sometimes called
'bend', 'swivel' and 'yaw') and so save substantially on cost, often without noticeable loss
of performance for such tasks as simple materials handling. The work envelope (all the
points in space which can be touched by the end of the robot arm) varies in shape
depending upon the actual configuration chosen for the design of the arm. One common
structural classification of robot arms involves grouping according to the coordinate
system of the three major (the translational) axes which provide the vertical lift stroke,
the in/out reaching stroke, and the rotational or traversing motion about the vertical lift
axis of the robot. Such a classification can distinguish between six basic types

2.2 DIFFERENT ARM CONFIGURATIONS
1) Cylindrical coordinate robot : In the robot shown in figure the horizontal arm can
move in and out parallel to the base, can move up and down the vertical column
(remaining parallel to the base), and the whole base can swivel the arm and column
around the vertical axis, so sweeping out a work envelope which is a partial cylinder. This
corresponds to a mathematical coordinate system, which specifies points in space in a
similar fashion, and is therefore ideally suited for this type of robot. It should be noted
that there is often so much computing power available in modern robots that the user can
usually specify points in one of many different coordinate systems (such as the familiar
x,y,z of the cartesian system) whatever the actual form of the robot, and the computer will
do the conversion for him. Nevertheless, the cylindrical coordinate system remains the
'natural' system for this kind of robot, of which typical examples are manufactured by
Fanuc.Prab and Seiko.
Fig2.1

2) Spherical (polar) coordinate robot : The robot in figure has arm which can move in
and out and rotate on the base as before, but it utilises a pivoting vertical motion instead
of a true vertical stroke, so sweeping out a partial sphere in space. This corresponds to the
mathematical spherical (or polar) coordinate system. Typical examples of this kind of
robot include the Unimate range manufactured by unimation.
Fig2.2

3) Cartesian (rectangular) coordinate robot : This type of robot, shown in figure is
configured with three mutually perpendicular traversing axes, consisting of an up/down
column suspended from a beam on which it can move left/right, while the beam in
turn is capable of forward/ backward motion, so providing full x,y,z movement. This
configuration is clearly ideally suited for direct usage of the mathematical cartesian (or
rectangular) coordinate system. Examples of this kind of robot may have a gantry above,
as in the IBM 7565 (originally RSI) assembly robot and the Olivetti Sigma, or may have
the whole system 'on its side' like the DEA Pragma. Owing to the mechanical properties
of such a configuration, it is a common choice where high precision is required, such as
in certain assembly tasks.
Fig 2.3

4) Revolute coordinate (jointed arm) robot : An example of this fourth class of robot,
sometimes known as an anthropomorphic robot, is shown in figure.
It consists of rotary joints called the 'shoulder' and the 'elbow'
(corresponding to the human arm) all mounted on a 'waist' consisting of a rotating base
which provides the third degree of freedom. This revolute (or jointed arm) configuration
has the advantage of having a very large working envelope for its size, so minimizing
floor space requirements. Typical examples include those manufactured by Asia,
Cincinnati Milacron and Unimation (the 'Puma' series).
Fig2.4

5) SCARA-type robot : In April 1981 a fundamentally new structure of robot, developed
at Yamanashi University in Japan, became commercially available for the first time. The
so called SCARA (Selective Compliance Assembly Robot Arm), illustrated in figure is
similar to a revolute robot, but has the rotary joints in the horizontal rather than vertical
plane, and uses a vertical lift axis attached to the end-effectors. As such the design (based
on a traditional Japanese folding screen called a 'byobu') exhibits properties of both
revolute and cylindrical coordinate robots. Because of their stiff structure in the vertical
direction, SCARA-type robots can bear far higher payloads than other assembly
Robots.DEA Pragma. Owing to the mechanical properties of such a configuration, it is
common choice where high precision is required, such as in certain tasks.
Fig2.5

2.3 SIX DEGREES OF FREEDOM
There are six basic motions, or degrees of freedom, which provide the
robot with the capability to move the end effectors through the required sequence of
motions. These six degrees of freedom are intended to emulate the versatility movement
possessed by the human arm. Not all robots are equipped with the ability to move in all
six degrees. The six basic motions consist of three arm and body motions and three wrist
motions, as illustrated in fig. for the polar-type robot. These motions are described below.
Arm and body motions :
1. Vertical traverse: up-and-down motions of the arm, caused by pivoting the entire arm
about a horizontal axis or moving the arm along a vertically slide
2. Radial traverse: extension and retraction of the arm (right or left swivel of the robot
arm)
3. Rotational traverse: rotation about the vertical axis (right or left swivel of the robot
arm)
Wrist motions:
4.Wrist swivel: rotation of the wrist
5.Wrist bend: up-or-down movement of the wrist, which also involves a rotational
movement.
6.Wrist yaw: right-or-left swivel of the wrist
Additional axes of motion are possible, for example, by putting the robot on all
track or slide. The slide would be mounted in the floor or in an overhead track system,

thus providing a conventional six-axis robot with a seventh degree of freedom. The
gripper device is not normally considered to be an additional axis of motion.
Fig 2.6
2.4 CONCLUSION:
In this chapter we have studied the different arm configurations of the
robot and are used generally everywhere.
In the next chapter we will study the drafting of the robot configurations in
AUTO-CAD.

CHAPTER 3
DRAWING OF CONFIGURATION BY AUTO-
CAD 2000
3.1 INTRODUCTION
Base of 3D-Tutorial for Robo fundamentals (AUTO-CAD 2000)
We viewing an object in 3 dimensions give you a sense of its true shape
and form. It also helps you conceptualise the design which results in better design
decision is finally using 3D objects helps you communicate your ideas to those who may
not be familiar with the plans, sections, and side views of your design.
A further advantage to drawing in 3D is that you can derive 2D drawing
form your 3D modules which might otherwise take considerably more time with standard
2D drawing methods, e.g., you could model a mechanical part in 3D and then quickly
derive its top, front, right side views using the techniques in auto cad.
AutoCAD offers 2 methods for creating 3D modules surface modeling and
solid mode using.
In 3D-TRF we used solid modeling techniques to draft the selections of
different robotic configurations.
3.2 SOLID MODELING
It is a way of designing 3D objects as solid forms rather than as wire
frames we the surface attach when you create a 3D model using solid modeling you start
with the basic forms a your model / cubes, cones and cylinders, ferinstance these basic

solids are called primitives. Then using more of these primitives you begin to add or to
subtract from your basic forms.
3.3 CREATING SOLID FORM OF ROBO CONFIGURATIONS
In the process we have explore the creation of solid models by creating
primitives and then setting up special relationship between them. All of the commands we
have used to create solid primitives and to edit then are accessible on the solids toolbar.
a) Drafting Selections
Primitives are the basic building blocks of solid modeling. At first it may
seem limiting to have 6 primitives to work with bat consider the varied forms you can
create with just a few 2D objects. Let's begin creating basic mans robo skeletons for polar
coordinate configuration.
b) Procedure
1) Draft the Front view, side view and Top view for each part of the Robot arm.
2) Specify the corresponding heights, width and to extrude of the views to get the
skeleton pattern.
3) Join each part of required location.
3.4 COMMANDS USED:
4) POLYLINE
 Draw toolbar:
 Draw menu: Polyline
 Command line: pline

 Specify start point: Specify a point (1)
 Current line-width is <current>
 Specify next point or [Arc/Close/Halfwidth/Length/Undo/Width]: Specify a point
(2) or enter an option
5) REGION
 Draw toolbar:
 Draw menu: Region
 Command line: region
 Select objects: Use an object selection method and press ENTER when you finish
Closed polylines, lines, and curves are valid selections. Curves include circular
arcs, circles, elliptical arcs, ellipses, and splines.
AutoCAD converts closed 2D and exploded planar 3D polylines in the
selection set to separate regions and then converts polylines, lines, and curves to form
closed planar loops (outer boundaries and holes of a region). If more than two curves
share an endpoint, the resulting region might be arbitrary.
The boundary of the region consists of end-connected curves where each
point shares only two edges. AutoCAD rejects all intersections and self-intersecting
curves.
If a selected polyline has been smoothed by either the Splines or Fit
options of PEDIT, the resulting region contains the line or arc geometry of the smoothed
polyline. The polyline is not converted to a splines object.

AutoCAD applies the current layer, line type, line weight, and color to the
region. AutoCAD deletes the original objects after converting them to regions unless the
system variable DELOBJ is set to 0. If the original objects were hatched, hatch
associativity is lost. To restore associativity, rehatch the region.
6) EXTRUDE :
Creates unique solid primitives by extruding existing two-dimensional
objects With EXTRUDE, you can create solids by extruding (adding thickness to)
selected objects. You can extrude an object along a path, or you can specify a height
value and a tapered angle.
Use EXTRUDE to create a solid from a common profile of an object, such
as a gear or sprocket. EXTRUDE is particularly useful for objects that contain fillets,
chamfers, and other details that might otherwise be difficult to reproduce except in a
profile. If you create a profile using lines or arcs, use the Join option of PEDIT to convert
them to a single polyline object or make them into a region before you use EXTRUDE.
 Solids toolbar:
 Draw menu: Solids Extrude
 Command line: extrude
 Current wire frame density: ISOLINES=current
 Select objects: You can extrude planar 3D faces, closed polylines, polygons,
circles, ellipses, closed splines, donuts, and regions. You cannot extrude objects

contained within a block or polylines that have crossing or self-intersecting
segments.
A polyline must contain at least 3 but not more than 500 vertices. If a
selected polyline has width, AutoCAD ignores the width and extrudes from the center of
the polyline path. If a selected object has thickness, AutoCAD ignores the thickness.
Once you create a box, you cannot stretch it or change its size. However,
you can extrude the faces of a box with SOLIDEDIT.
7) BOX :
Creates a 3 dimensional solid bar.
 Solids toolbar:
 Draw menu: Solids Box
 Command line: box
 Specify corner of box or [CEnter]<0,0,0>: Specify a point (1) or press ENTER
for corner of box, or enter c for center
8) CYLINDER
A cylinder is a solid primitive similar to an extruded circle or ellipse but
without a taper.
 Solids toolbar:
 Draw menu: Solids Cylinder
 Command line: cylinder

 Current wire frame density: ISOLINES=current
 Specify center point for base of cylinder or [Elliptical] <0,0,0>: Specify a center
point (1), enter e, or press ENTER
9) UCS :
The user coordinate system (UCS) provides a movable coordinate system
for coordinate entry, planes of operation, and viewing. Most AutoCAD geometric editing
commands are dependent on the location and orientation of the UCS; objects are drawn
on the XY plane of the current UCS.
The UCS command sets the orientation of the user coordinate system in
three-dimensional space. It defines the orientation for two-dimensional objects and the
extrusion direction for the THICKNESS system variable. It also provides the axis of
rotation for ROTATE and the default projection plane for pointing.
Changing from one UCS to another does not change the drawing view
unless the UCSFOLLOW system variable is on.
 UCS toolbar:
 Tools menu: New UCS
 Command line: ucs
 Enter an option [New/Move/orthoGraphic/Prev/Restore/Save/Del/Apply/?/World]
<World>:

10) SLICE :
With SLICE, you can create a new solid by cutting the existing solid and
removing a specified side. You can retain one or both halves of the sliced solids. The
sliced solids retain the layer and color properties of the original solids. The default
method of slicing a solid is to specify three points that define the cutting plane and then
select which side to retain. You can also define the cutting plane by using another object,
the current view, the Z axis, or the XY, YZ, or ZX plane.
To slice a solid
1 From the Draw menu, choose Solids Slice.
2 Select the objects to slice.
3 Specify three points to define the cutting plane. The first point defines the origin
(0,0,0) of the cutting plane. The second point defines the positive X axis, and the
third point defines the positive Y axis.
4 Specify which side to retain, or enter b to retain both sides.
11) UNION :
A composite region is the result of combining the total area of two or more
existing regions. A composite solid is the result of combining the total volume of two or
more existing solids. You can join regions or solids that do not share a common area or
volume.
 Solid Editing toolbar:
 Modify menu: Solid Editing Union

 Command line: union
selecting objects
The selection set can contain regions and solids that lie in any number of
arbitrary planes. AutoCAD divides the selection sets into subsets that are joined
separately. Solids are grouped in the first subset. The first selected region and all
subsequent coplanar regions are grouped in the second set. The next region that is not
coplanar with the first region and all subsequent coplanar regions are grouped in the third
set, and so on until all regions belong to a subset.
The resulting composite solid includes the volume enclosed by all of the
selected solids. Each of the resulting composite regions encloses the area of all regions in
a subset.
12) SUBTRACT :
Creates a composite region or solid by subtraction
 Solid Editing toolbar:
 Modify menu: Solid Editing Subtract
 Command line: subtract
 Select the regions or solids from which AutoCAD subtracts area or volume.
 Select solids and regions to subtract from...
 Select the regions or solids to subtract from the first selection set.

 Select solids and regions to subtract...
AutoCAD subtracts the selected objects from each subset of the selection
set. A single new composite solid or region is created for each subset.
The selection set can contain regions and solids that lie in any number of
arbitrary planes. AutoCAD divides the selection sets into subsets that are joined
separately. Solids are grouped in the first subset. The first selected region and all
subsequent coplanar regions are grouped in the second set. The next region that is not
coplanar with the first region and all subsequent coplanar regions are grouped in the third
set, and so on until all regions belong to a subset.
AutoCAD rejects selected source regions for which there are no other
selected coplanar regions.
3.5 CONCLUSION:
In this chapter we have studied about the commands used in this project
for drawing the configurations in the proper manner. Each command is studied in detail
in this chapter. In this project AUTO-CAD playing very important role in this project.

CHAPTER 4
ADDING MOTIONS TO CONFIGURATIONS

4.1 INTRODUCTION
Another visual language well developed in modem culture is that of
moving images. The individual images that form a moving picture are still. The
appearance of motion depends on a property of the eye that continues to perceive light
after the light is gone. This property is called persistence of vision. When images are
presented to the eye quickly enough and with enough continuity between them, the eye
interprets a series of images depicting a form in different places as the movement of the
form. The rate at which this continuity becomes apparent is called flicker fusion. A film
camera photographs action at increments of time to be played back at the same speed.
Each photographs is called one frame of the film. In animation, we simulate the
movement of forms by creating an image for each frame, as if the form had been
photographed in motion, and then playing the frames back in sequence. To figure out how
much change is needed between frames in order to create the illusion of a specific
motion, early animators studied film frame by frame. Looking at film or video frame by
frame is still a good that animation has been studied, general principles and techniques of
good animation have been formulated.
Motion pictures brought about the vocabulary of visual metaphor called
cinematography. This field is another examples of a cultural tradition of seeing and
interpreting images. For example, when a character is filmed from underneath, the image
is understood by the visual mind to connote power attributed to that person. Like other

examples of visual interpretation, these metaphors may vary in how broadly they are
understood. Most of us in the modem world have seen enough moving images in this
tradition that our visual minds understand the metaphors even if we have never studied
cinematography or analyzed yourself, it is well worthwhile to learn these visual
conventions so that you can communicate effectively within the form and choose when to
depart from tradition.
4.2 INVERSE KINEMATICS
In inverse kinematics (IK), an inverse relation holds true: the child moves
the parents. This is not a simple reversal of the flow of transform information, however.
In inverse kinematics, the computer solves the movements of a defined IK chain, based
on the animated position of the end of the chain, which is called an IK goal. In a given
animated model, you create a chain with an IK goal anywhere you want to define a point
of contact with the floor or outside world. For example, in a leg, you might define an IK
chain from the hip to the ankle, allowing you to define the placement of the heel, and
then a second chain from the ankle to the toes, allowing you to define the placement of
the toes independently of the heel. This better reflects the way arms and legs move,
encountering obstacles in the environment to which the whole limb responds, so IK often
results in more natural-looking motion for characters. The software tools that implement
IK calculations are known as IK solvers, and there are several kinds of IK solvers in max.
In any of these cases, IK involves complicated calculations so as to adjust the upper part
of the hierarchy as the end effectors (the goal) gets to its destination. The quality of the

solution depends on the quality of the solver and how appropriate it is to a given
animation. Max 4 has new IK solvers to offer better quality IK solutions for character
animation.
To get the IK results you wont more precisely, adjust the thresholds under
customize  Preferences  Inverse Kinematics. These settings apply to the Applied IK
and Interactive IK methods. A lower threshold means greater accuracy at the expense of
speed. You will need to experiment to get the best result for your animation.
4.2.1 Using Interactive IK
One straightforward way of using IK on a hierarchy is to turn on the
Interactive IK button (Hierarchy  IK  Interactive IK) and animate. If you try this on
the model you just created, you will probably get some wild results, because we have not
yet set any terminators or IK limits. Undo whatever changes you made, and let's go fix
those settings
4.2.2 Setting a Terminator
To prevent the child from affecting the entire hierarchy, you need to set a
terminator. A terminator is the lowest object in the hierarchy unaffected by movements of
the end effectors.
4.2.3 Setting IK Limits
Setting IK limits can be laborious. In our example, if we wanted to use IK,
we should set the IK limits of the left arm before mirroring it, because the Mirror tool has

an on of mirroring the IK limits. Let's not worry about that and just set some limits he left
arm.
1. Select Arm Upper L and switch to the Parent Reference coordinate system.
2. Open the Rotational Joints rollout.
3. Check Active and Limited for all three axes.
4. Drag the From and To spinners for the X axis up and down and watch the display in
the view port. Use these spinners to set the range of motion you want for this joint around
this axis.
5. Drag the From and To spinners for the Y axis to set the range of motion you want
around the Y axis. For the shoulder joint, this rotation exists, but be careful not to allow
too much.
6. Drag the From and To spinners for the Z axis to set the range of motion you want
around the Z axis. The shoulder can't rotate backward on this axis, so one of the
constraints should be 0.
7. Press the Page Down key to select the next object down the hierarchy. Arm Lower L.
Check Limited in theY Axis. Use the From and To spinners to set limits for the rotation
around Y. Uncheck Active for the X and Z axes, since the arm can't rotate at all in X and
only very slightly in Z.
8. Press the Page Down key again to select Hand L. Check Limited in the Y Axis. Use
the From and To spinners to set limits for the rotation around Y. Uncheck Active for the X
and Z axes. Save the file as hierarchy_IK limits.max.
9. In the Inverse Kinematics rollout, click the Interactive IK button.

10. Go to frame 100 and click the Animate button again. Move the hand to a position in
front of the torso. Notice that it is awkward to set the hand where you want it this way.
Undo your move. Turn off the Animate button.
11. Create a small dummy object and position it just to the left of the left hand.
12. Link the dummy object to the left hand.
13. With Interactive IK still on, turn on the Animate button. Move the dummy object to a
position in front of the torso. Notice that you now have a little more control over the hand
rotation.
14. Turn off the Animate button and play the animation. Save your file as
hierarchy_IkOl.max.
4.2.4 Using Follow Objects (Applied IK)
Another type of IK in max involves using a follow object, often a dummy
object, to calculate IK for a certain range of frames. This type of IK is considered more
accurate than interactive IK. Applied IK is often used for sliding joints in machines,
where kinematics accuracy is important. In our example, instead of animating the hand,
you would a mate a dummy moving from one hand position to another. You then bind the
hand the dummy follow object, not by linking but by clicking Bind in the Hierarchy
 IK-panel. Then you click the Applied IK button for the range of the animation. The
resulting calculation of the IK is different from using the Interactive IK button.
1. Create a dummy object and position it to the left of the left hand.
2. Select the torso and check Terminator in the IK tab.

3. Go to frame 100 and turn on the Animate button. In the top view port, move the
dummy object to a goal position in front of the model. Turn off the Animate
button.
4. Select the hand object. In the Hierarchy  IK panel, turn off the Interactive IK button.
5. Under Bind to Follow Object, click Bind. Press H, highlight the dummy object and
click Pin. Turn off the Bind button.
6. Upper the Apply IK button, choose frames 0 to 100. Save your file as hierarchy_ik02
•max.
4.2.5 Creating IK Chain Solvers
IK can be calculated either in a way that "remembers" how it was
constructed, called history-dependent IK or HD IK, or in a way that does not consider the
history, called history-independent IK or HI IK. The new HI IK solvers in max are
adjusted in the Motion panel. These are faster and better for longer character animations.
The HD IK, interactive IK, and applied IK are set up and modified in this section of the
Hierarchy panel. These work best with short animations of less complex hierarchies, such
as machines. HD IK gets unwieldy in long animations, because the calculations consider
the entire history of the chain.
An additional feature of these new IK chain solvers is that you can have
multiple overlapping IK chains on the same object. This allows you to set independent IK
goals for a heel and toes, for example, so that you can constrain them to the floor as

necessary. In this way, you can ensure that the heel doesn't leave the ground until the leg
is fully extended.
If you are going to output to Web 3D, you should use only one IK chain,
as multiple IK chains ore not supported by these applications.
To create an IK chain, follow these general steps
1. Select the root of the chain and choose either HI Solver or HD Solver under Animation
 IK Solvers.
2. Drag to the end object of the IK chain.
3. Animate the end effectors of the chain.
The IK solver will calculate the positions of the objects in the chain to
meet the with precedence to the objects closer to the end of the chain (called Child >
Parent precedence in the interface). This is almost always what you want. You can set a
different precedence in the Hierarchy  IK panel.
4.3 KEY TO PRESENTATION [3D STUDIO MAX]
Procedure
1) Importing the CAD files in 3DS max in 3DS format.
2) Set the number frames for total animation film.
3) Create Hierarchy of objects.
4) Create the Rotation and position key frame for each part of the Robot arm.
5) Animate the key frames.
6) Render the 3D images in Avi file format.

4.4 CONCLUSION :
In this chapter we studied about the 3D-max software which is used for
animating the configurations drawn in AUTO-CAD. This software has the prime
importance in today’s computer professionals who works in advertising field,walk-
throughs of buildings, interior designs and graphics used in cinemas & in cartoon films.
In this chapter we studied only about the 3D-Max software which is
applied for this project.

CHAPTER 5
USER INTERFACE
5.1 INTRODUCTION TO VISUAL BASIC 6
a) The Integrated Development Environment
Visual Basic is not just a language. It's an Integrated Development
Environment in which you can develop, run, test, and debug your applications. Start
Visual Basic, and you'll see the window shown in Figure. This is where you are prompted
to select the type of project you want to create.
FIGURE :
With Visual Basic, you can create the following types of applications.
Standard EXE A Standard EXE project is a typical application. Most of the applications

in this book are Standard EXE projects. These are the types of applications you
developed with previous versions of Visual Basic.
ActiveX EXE, ActiveX DLL These types of projects are available with the Professional
edition. ActiveX components are OLE automation servers. ActiveX components are basic
code-building components that don't have a visible interface and that can add special
functionality to your applications. The two types of projects are identical in functionality,
but are packaged differently (as executable files or Dynamic Link Libraries).
b) ActiveX Control This type of project is also a feature of the Professional edition. Use
it to develop your own ActiveX controls. An ActiveX control such as a TextBox or
Command button control, is a basic element of the user interface. If the ActiveX controls,
that come with Visual Basic (the ones that appear in the Toolbox by default) don't provide
the functionality you need, you can build your own custom controls.
c) ActiveX Document EXE, ActiveX Document DLL ActiveX documents are in
essence Visual Basic applications that can run in the environment of a container that
supports hyperlinking (such as Internet Explorer). These types of documents are not
discussed in this book.
d) VB Application Wizard, VB Wizard Manager The Application Wizard takes you
through the steps of setting up the skeleton of a new application. I believe that you
shouldn't use this Wizard unless you can develop a project on your own. Modifying the
skeleton code created by the Wizard is just as difficult as developing your own
application from scratch, if not more. You should, however, experiment with this tool to
see the types of applications it can prototype for you.

The Wizard Manager lets you build your own Wizard. A Wizard is a
sequence of windows that collect information from the user. After the user fills out all the
windows, the Wizard proceeds to build an application, install software, or carry out an
automated operation for the end user.
5.2 THE MENU BAR
The menu bar contains the commands you need to work with Visual Basic.
The basic menus are:
 File contains the commands for opening and saving projects and creating executable
files and a list of recent projects.
 Edit contains editing commands (e.g.. Undo, Copy, Paste) plus a number of
commands for formatting and editing your code (e.g.. Find, Replace).
 View contains commands for showing or hiding components of the IDE.
 Project contains commands that add components to the current project, references to
Windows objects, and new tools to the Toolbox.
 Format contains commands for aligning the controls on the Form.
 Debug contains the usual debugging commands.
 Run contains the commands that start, break, and end execution of the current
application.
 Query contains commands that simplify the design of Stuctured Query Language
(SQL) queries. This menu is available when building database applications.
 Diagram contains commands for editing database diagrams. This menu is available
when building database applications.

 Tools contains tools you need in building ActiveX components and ActiveX controls;
contains the command to start the Menu Editor and the Options command, which lets
you customize the environment.
 Add-Ins contains add-ins that you can add and remove as needed. By default, only
the Visual Data Manager Add-In is installed in this menu. Use the Add-In Manager
command to add and remove add-ins.
 Window is the standard Window menu of an application that contains commands to
arrange windows on the screen.
 Help contains information to help you as you work.
5. 3 THE TOOLBARS
The toolbars give you quick access to commonly used menu commands.
Besides the main toolbar, which is displayed by default below the menu bar, the Visual
Basic IDE provides additional toolbars for specific purposes, such as editing. Form
design, and debugging. To view the additional toolbars, choose View  Toolbars.
To open and close toolbars, choose View 3- Toolbars to display a submenu
containing the names of the toolbars. These names are toggles and turn the corresponding
toolbars on and off.
Choose the Customize command to customize the appearance and
contents of menus. To customize default toolbars, choose View Toolbars  Customize
to open the Customize dialog box.
The Customize dialog box has three tabs:

 Toolbars On this tab you can specify which toolbars will be visible, rename toolbars,
delete them, and even create new ones. To create a new toolbar, click the New button
and enter the new toolbar's name when prompted.
 Commands This tab contains a list of the main menu options and a list of the
commands of the selected option. Use this tab to add commands to your custom
toolbars (I'll describe the process in the following section).
 Options On this tab you can specify some general options for all toolbars. You can
switch between small and large icons, specify whether ScreenTips display, and
specify whether menus animate.
NOTE : ScreenTips are small yellow boxes that contain a short description of each tool.
Unless you specify not to display them, ScreenTips appear when the pointer hovers over a tool.
5.4 CREATING A NEW TOOLBAR
To create a new toolbar, follow these steps:
1. Choose View  Toolbars  Customize to open the Customize dialog box.
2. Select the Toolbars tab, and click the New button.
3. Enter the name of the new toolbar. A small empty toolbar appears on your screen.
4. To add icons to your new toolbar, select the Commands tab, which contains all the
commands of the IDE's menus organized according to the menu to which they belong.
5. Click the icon you want to add to your custom toolbar, and drag it from the
Customize dialog box to your new toolbar.
6. Add as many command icons as necessary, and then close the Customize dialog box.

TIP : If you can't see your custom toolbar on the screen, choose View  Toolbars and click your custom
toolbar's name.
5.5 THE TOOLBOX
The Toolbox contains the icons of the controls you can place on a Form to
create the application's user interface. By default, the Toolbox contains the pointer icon
and the icons of 20 ActiveX controls (explained later in this chapter in the section "The
Elements of the User Interface"). To place a control (such as a Command button) on a
Form, you first select it with the mouse and then move the mouse over the Form. When
the mouse is over the Form, the cursor turns into a cross, and you can draw the control on
the Form, just as you would draw a rectangle using a drawing application. The size of the
rectangle determines the size of the control. In addition to the default Toolbox (called
General), you can create custom layouts by right-clicking the Toolbox and selecting Add
Tab from the shortcut menu. Instead of crowding the Toolbox with all the ActiveX
controls you need for a project, you can create several tabs with icons on the Toolbox and
organize the controls according to function.
To add a new tab to the Toolbox, follow these steps:
1. Right-click the Toolbox to open the shortcut menu.
2. Choose Add Tab, and enter the name of the new tab. Visual Basic displays a new
button (such as the General button) in the Toolbox.

3. Click the new tab button to open the tab, and then right-click it to display a shortcut
menu.
4. Select Components to display a list of all ActiveX controls installed on your system.
5. To add to the current tab, check the checkbox in front of the names of the controls.
5.6 THE PROPERTIES WINDOW
The Properties window contains the property settings for the selected
control. Properties are attributes of an object, such as its size, caption, and color. You can
adjust the appearance of the controls on the Form with point-and-click operations. For
example, you can set the string that appears on a Command button by locating the
Caption property in the Properties window and typing a new value, such as "Click
me!”. To change the color of a Form, locate the Back color property in the Properties
window, and click the arrow button next to the current value of the color. Visual
Basic displays a color selection box,. Select a color on this
box to instantly fill the Form with the new color.
5.7 THE FORM DESIGNER
The Form Designer is the main window in the middle of the screen, and in
it you design and edit the application's user interface. The same window displays a text
editor in which you can enter and edit the application's code. The Form Designer displays
two windows for each Form:
• The Form itself (the elements of the visible user interface)

• A Code window (the code behind the elements of the Form)
To switch between the two views, click the little icons (View Code and View Form)
at the top of the Project Explorer. Select the Form you want to view in the Project
Explorer, and then click one of the two View buttons to see the Form or its code.
5.8 THE FORM LAYOUT
You use the Form Layout window, which is in the lower-right corner of the
Visual Basic IDE, to determine the initial positions of the Forms in your application. You
can move Forms around and place them on top of each other. This window is useful in
applications that use multiple Forms because you can specify how each Form is
positioned with respect to the main Form. The insert in the lower-right corner shows how
the placement of the Forms was specified in the Form Layout window.
5.9 VISUAL BASIC APPLIED TO THIS PROJECT
The most basic object used in visual basic is the form-object. This is the
visual foundation of 3D-TRF. Most of the applications visible on the screen in 3D-TRF is
based on some or the other types of form. After adding forms and most of the controls
and setting most of their properties in the properties window we set the appearance of
different forms as desired. Codes were now added and the different forms connected with
each other and the database.
3D-TRF has several different forms that make up the foundation of the
user interface. The user interacts with each of these forms in specified ways. Forms are

loaded into memory before they can be used and unloaded from memory when no longer
needed, which frees memory for other operations. The form is automatically loaded into
the memory if its not already present.
The forms contains various major elements
• Control box
• Border
• Maximize and Minimize Buttons
• Form's MDI status
a) Control Box
Contains commands that manipulate the basic appearance and position of
the form. A control box has a combination of various commands.
• Restore
• Move
• Size
• Maximize
• Minimize
• Close
• Switch to
b) Borders
Forms have four possible border styles: -
1) None, 2) sizable, 3) fixed single, and 4) fixed double. Border style property is used to
specify the kind of border the form will have

c) Maximize and Minimize Buttons
Like a standard window, a 'V.B. form' can be minimized to an icon,
restored to its previous size or maximized to the full screen.
d) Form's MDI Status
Multiple Document Interface is available in visual Basic. It is used to open
multiple documents at the same time. The MDI form functions as a container for multiple
child forms, it is a created by using the Add MDI form command.

CHAPTER 6
CONCLUSION
3D-TRF as we have seen is a tutorial which helps user to conceptualize
the design configuration for robotics. All designers company, students who deals with
robot study, motions and configurations which comparise motions.
In order to make it user given by tool interactive interface is provided.
Visualizing the complex motions by the use of computer graphics was an
attempt in this project.
As the coming miscellaneous belongs to," Information Technology " we
see 3D-TRF as an attempt to manage the information in the most logical and usual
manner.

BIBLIOGRAPHY
1. Evangelos Petroutsos “Mastering Visual Basic 6”, “BPB publication”, Volume 6,
Page Nos. 5,6,8-13.
2. Cat woods, Alexander Bicalho and Chris Murray “Mastering 3Ds max 4”, “BPB
Publication” Volume 1, Page Nos. 507-511.
3. Peter b. Scott “ The robotics revolution”, “Blackwell Publication”, Volume 1,
Page Nos. – 9-11,16-20,25-26,275-279,288-289,299-304.

ACKNOWLEDGEMENT
The completion of our project on “3D – TUTORIAL FOR

ROBO FUNDAMENTAL” has given us immense pleasure, satisfaction and
knowledge.
Everybody is familiar with the saying that, “Ideas rule the world”.
Ideas provide us knowhow or techniques. Blind efforts and mere mechanical toil
can not deliver the goods.
Success is not merely a question of luck or genius. It depends on
hardwork, sustained toil and most important of all its guidance. Working under
the guidance of Prof. A. S. KAKAD, we learned to understand and accept
responsibilities. We were inspired to take reasonable work under his guidance. We
extend our deep sense of gratitude to him.
We are also thankful to our respective Prof. N. J. PANDE for his
valuable suggestion and guidance for the successful completion of this project
work.
Our foremost thanks to Principal Prof. F. A. KHAN who have
extended every facility to us for the completion of our project.
We are greatly thankful to all those who helped us directly or
indirectly in our project work..
Projectees ...
INDEX
Ch. No. Particulars Page
No.
1 INTRODUCTION TO ROBOTICS 1
1.1 History of Robotics
1.2 Revolution of robotics
1.3 Present development
1.4 Application of Robots in Industries
1.5 Conclusion
2 STUDY OF CONFIGURATIONS 12
2.1 Introduction
2.2 Different arm configurations
2.3 Six degrees of freedom
2.4 Conclusion
3 DRAWING OF CONFIGURATION BY AUTO-CAD 2000 20
3.1 Introduction
3.2 Solid Modeling
3.3 Creating a solid form of Robo configurations
3.4 Commands used
3.5 Conclusion
4 ADDING MOTIONS TO CONFIGURATION 29
4.1 Introduction
4.2 Inverse Kinematics
4.3 Key to Presentations ( 3 D – Studio Max)
4.4. Conclusion
5 USER INTERFACE 37
5.1 Introduction to VB6
5.2 The Menu Bar
5.3 The tool Bars
5.4 Creating a new toolbar
5.5 The toolbox
5.6 The properties window
5.7 The form designer
5.8 The form layout
5.9 Visual basic applied to this project

6 CONCLUSION 47
7 BIBLIOGRAPHY 48

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comparatively recent concept of the 'industrial robot' there is no international agreement

end-stops) it is considered to be a special case of fixed automation, rather than a robot.

The robot is defined as the programmable, multifunctional manipulator

design to move material,parts,tools or special devices through variable programmed

motions for the performance of a variety of tasks.

1.1 HISTORY OF ROBOTICS

real use ever made of pneumatics for centuries.

About 1500, Leonardo da Vinci built a mechanical lion in honour of Louis

misuse of the word is of course universal.

would violate the First Law.

Laws remain worthy design standards for roboticists to this day.

1.2 THE REVOLUTION OF ROBOTICS

a limited capability teach-pendant) will be used in place of purely 'walk-through'

As robot tasks become more complex, however, advanced languages such

become something of a standard. A new breed of 'robot programmers' (rather than

Nevertheless, developments in computing science, inspired by the fifth-generation

computer project, will be likely eventually to simplify significantly the programming

firms still concerned by the high-technology involved, The substantial economic

to robotise, but only gradually.

This process will he hastened by the availability of comparatively low-cost

By the end of the decade, in the research laboratories, third-

inadequacies of mechanically simpler designs to be satisfactorily compensated for, and

inherently far less rigid arm structures to be controlled effectively.

outside the occasional research center.

Already, in 1984. a special welding robot, manufactured at the Petrozavod

consequently be developed, together with less flexible systems comprising a robot on a

long 'track' - appropriate for more structured environments.

commercially available as gloriously expensive luxuries. Some simple floor-cleaning

1.3 PRESENT DEVELOPMENT

Automated guided vehicles

Because of the inflexibility of traditional wire-guidance systems, advanced

made at the National Centre for Scientific Research.

In the early 1970s the Japanese government instigated the methodology

engineering data automatically to external management control and information systems.

Much research is being conducted by industry to develop the complicated

feedback in robotic systems, it is be corning possible to inspect and test products

as part of a CADCAM system, the overall approach is sometimes known as CADMAT,

standing for computer-aided design, manufacture and testing.

As robots become more sophisticated, so it becomes feasible to use them

Outside of the milking parlour, as free-roving vehicles advance in sophistication it

technical job of caring for crops and livestock.

In addition to agriculture, both forestry and fish-farming arc seen as

approaches for such introductions.

Robots can be usefully employed in chemistry laboratories for such tasks

out a sequence of separate procedures. In addition, the microprocessor controlling the

Although remote controlled underwater vessels linked to the mother ship

currently infeasible because sufficient information cannot be transmitted through water.

system suitable for construction, rescue and repair.

Although it at first seems an unlikely combination, robots are seriously

Dyeing investigated for their application to meat processing. In response to a request

from a meat-processing company. Imperial College, London, is researching methods for

increasingly difficult to recruit replacement personnel for the task.

1.4 APPLICATION OF ROBOTS IN INDUSTRY

Although robots do not as yet possess many of the important capabilities

Govt. Poly.,Washim 10

robotics & the generation of robots from 1984-2000.

plays an important role as it is used in every field.

Govt. Poly.,Washim 11

The essential role of a robot arm is to move a gripper or tool to given

orientations at a given set of points. Mathematically, to be able to orient an object in any

structural classification of robot arms involves grouping according to the coordinate

Govt. Poly.,Washim 12