Introductio

n to
Robotics
 Content
Introduction to Robotics
What is a robot?
Types of Robots
Robot End Effectors
Robot Degrees of freedom
Robot joints
What is a Robot?
a programmable mechanical
manipulator, capable of moving along
several directions, equipped at its end
with a work device called the end
effectors (or tool) and capable of
performing factory work ordinarily
done by human beings. The term robot
is used for a manipulator that has a
built-in control system and is capable
of stand-alone operation."
 Who introduced the word robot?
The term robot was first introduced by a Czech
dramatist, Karel Capek in his 1921 play "Rossum's
Universal Robots". He was referring to a perfect and
tireless worker performing manual labour jobs for
human beings.
Isaac Asimov, coined the word robotics as the science of

the study of robots, in his science fiction stories about

robots in 1940s.
 What is a robot?

Robot: An electromechanical device with multiple degrees-

of-freedom (DOF) that is programmable to accomplish a
variety of tasks.
Intelligent device whos motion can be controlled,
planned, sensed. . .
Electro-mechanical system
Performs jobs- cheaper, faster, greater accuracy,
reliability compared to human.
Widely used in manufacturing and home
 What is a robot?

Industrial robot:The Robotics Industries Association (RIA)

defines robot in the following way:

An industrial robot is a programmable, multi-functional

manipulator designed to move materials, parts, tools, or
special devices through variable programmed motions for the
performance of a variety of tasks
General Parts of a
Robot
 What is Robotics?
Robotics is the art, knowledge base, and the know-how

of designing, applying, and using robots in human

endeavors.
Robotics is an interdisciplinary subject that benefits

from mechanical engineering, electrical and electronic

engineering, computer science, biology, and many other
disciplines.
 Robotics
Robots are machines expected to
do what humans do

Robots can
mimic certain parts of the human body

Human arm

Robot arms
come in a variety of shapes and sizes

Size
& shape critical to the robots efficient operation

Many contain elbows,

shoulders which represent: -

Degrees of freedom

Motors
provide the Muscles
Control circuit provides the Brain
 Robotics (Isaac Asimov)
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 it by human beings

except where such orders would conflict with the First

Law.

3. A robot must protect its own existence as long as such

protection does not conflict with the First or Second

Law.
 Robotics History
1946
George Devol patents a playback device for controlling
machines.
1961
Heinrich Ernst develops the MH-1, a computer operated
mechanical hand at MIT.
1961
Unimate, the company of Joseph Engleberger and George
Devoe, built the first industrial robot, the PUMA
(Programmable Universal Manipulator Arm).
1966
The Stanford Research Institute creates Shakey the first
mobile robot to know and react to its own actions.
 Robotics History
Unimate PUMA SRI Shakey
 Robotics History
1969
Victor Scheinman creates the Stanford Arm. The arm's design becomes a
standard and is still influencing the design of robot arms today.
 Robotics History
1976
Shigeo Hirose designs the Soft Gripper at the Tokyo Institute of Technology. It is
designed to wrap around an object in snake like fashion.
1981
Takeo Kanade builds the direct drive arm. It is the first to have motors installed
directly into the joints of the arm. This change makes it faster and much more
accurate than previous robotic arms.
1989
A walking robot named Genghis is unveiled by the Mobile Robots Group at MIT.
 Robotics History
1993
Dante an 8-legged walking robot developed at Carnegie Mellon University
descends into Mt. Erebrus, Antarctica. Its mission is to collect data from a harsh
environment similar to what we might find on another planet.

1994
Dante II, a more robust version of Dante I, descends into the crater of Alaskan
volcano Mt. Spurr. The mission is considered a success.

Dante, by
NASA and
Carnegie
Mellon
University
 Robotics History
1996
Honda debuts the P3.
 Robotics History
1997
The Pathfinder Mission lands on Mars

1999
SONY releases the AIBO robotic pet.
 Robotics History
2000
Honda debuts new humanoid robot ASIMO.
Industrial Robots
 Robotics Terminology
Robot: An electromechanical device with multiple degrees-of-freedom (DOF)
that is programmable to accomplish a variety of tasks.
Robotics: The science of robots. Humans working in this area are called
roboticists.
DOF degrees-of-freedom: the number of independent motions a device can
make. (Also called mobility)
 Robotics Terminology
Manipulator: Electromechanical device capable of interacting with its
environment.

Anthropomorphic: Like human beings.

ROBONAUT (ROBOtic astroNAUT), an anthropomorphic robot with two arms,

two hands, a head, a torso, and a stabilizing leg.
 Robotics Terminology
End-effector: The tool, gripper, or other device mounted at the end of a
manipulator, for accomplishing useful tasks.
Grippers and Tools
 Robotics Terminology
Workspace: The volume in space that a robots end-effector can reach, both in
position and orientation.

A cylindrical robots half workspace

Working Envelope
 Robotics Terminology
Position: The translational (straight-line) location of something.

Orientation: The rotational (angle) location of something. A robots orientation is

measured by roll, pitch, and yaw angles.

Link: A rigid piece of material connecting joints in a robot.

Joint: The device which allows relative motion between two links in a robot.

A robot joint
 What are the parts of a robot?

Manipulator
Pedestal
Controller
End Effectors
Power Source
Pedestal

(Human waist)
Supports the manipulator.
Acts as a counterbalance.
Controller
(The brain)
Issues instructions to the
robot.
Controls peripheral
devices.
Interfaces with robot.
Interfaces with humans.
End Effectors
(The hand wrist)
Spray paint attachments
Welding attachments
Vacuum heads
Grippers
Types of Robots
 Types of Robots
A simplified list of robot types:

Tele-robots. Those guided by remote control by a human

control.
Tele-presence Robots. Similar to Tele-robots but with feed

back of video, sound and other data to allow the

operator to feel more like they are actually in the robot.
Static + Industrial Robots. Such as the widely used arms

employed in factories and laboratories worldwide.

 Types of Robots
Mobile Robots. Those, which need to navigate and

perform tasks without human intervention.

Autonomous Robots. Able to carry out their task

without intervention and obtain their power from their

environment.
Android Robots. Robots built to mimic humans
Advantages of Robots

Robots increase productivity, safety, efficiency, quality,

and consistency of products.

Robots can work in hazardous environments without

the need.

Robots need no environmental comfort.

Continued
Robots work continuously without experiencing fatigue of
problem.

Robots have repeatable precision at all times.

Robots can be much more accurate than human.
Robots replace human workers creating economic
problems.

Robots can process multiple stimuli or tasks

simultaneously.
 Disadvantages of Robots
Robots lack capability to respond in emergencies.
Robots, although superior in certain senses, have limited
capabilities in Degree of freedom, Sensors, Vision system, real time
response.

Robots are costly, due to Initial cost of equipment, Installation

costs, Need for Peripherals, Need for training, Need for
programming.
 Robot End Effectors
Correct name for the Hand that is attached to the end of
robot.

End
Effector
 Robot End Effectors
The end-effector (commonly known as robot hand) mounted on the
wrist enables the robot to perform specified tasks.

Various types of end-effectors are designed for the same robot to make
it more flexible and versatile.

End-effectors are categorized into two major types:

1) grippers
2) tools.
 End Effectors
Tools: Tools are used where a specific operation needs

to be carried out such as welding, painting drilling

etc. - the tool is attached to the mounting plate.

Grippers: mechanical, magnetic and pneumatic.
Mechanical:
Two fingered most common, also multi-fingered available
Applies force that causes enough friction between object
to
allow for it to be lifted
Not suitable for some objects which may be delicate /
brittle
End Effectors
Magnetic:
Ferrous materials required
Electro and permanent magnets used

Pneumatic:
Suction cups from plastic or rubber
Smooth even surface required
Weight & size of object determines size and number
of cups
Grippers and Tools
 Robot Degrees of freedom
DOF degrees-of-freedom:
the number of independent

motions a device can make. (Also called mobility)

Degree
of freedom - one joint one degree of freedom
Simple robots - 3 degrees of freedom in X,Y,Z axis
Modern robot arms have up to 6 degrees of freedom
XYZ, Roll, Pitch and Yaw
The human arm can be used to
 Robot manipulator
Robot joints consists of joints and
links
Joints provide relative motion
Links are rigid members between joints
Various joint types: linear and rotary
Each joint provides a degree-of-
freedom
Most robots possess five or six degrees-
of-freedom
Robot manipulator consists of two
sections:
Body-and-arm for positioning of
objects in the robot's work volume
Wrist assembly for orientation of end
effector
 Joint3 Link3

End of Arm

Link2

Link1

Joint2

Joint1

Link0

Base
What is a robot joint?
A robot joint is a mechanism
that permits relative
movement between parts of
a robot arm. The joints of a
robot are designed to
enable the robot to move its
end-effector along a path
from one position to another
 Robot joints
A robot joint is a mechanism that permits relative
movement between parts of a robot arm. The joints of a
robot are designed to enable the robot to move its end-
effector along a path from one position to another as
desired.
Types of joints

(a) Linear joint (type L joint)

, Prismatic
(b)Orthogonal joint (type O
joint)
(c) Rotational joint (type R
joint )

(d) Twisting joint ( type T

joint)
(e) revolving joint (type V
joint)
The Robotic Joints
Prismatic joints (L) are also
known as sliding as well as linear
joints.
They are called prismatic because
the cross section of the joint is
considered as a generalized prism.
They permit links to move in a
linear relationship.
 The Robotic Joints
Revolute joints permit only angular
motion between links.

Their variations include:

Rotational joint (R)
Twisting joint (T)
Revolving joint (V)
The Robotic Joints
A rotational joint (R) is
identified by its motion,
rotation about an axis
perpendicular to the
adjoining links. Here, the
lengths of adjoining links do
not change but the relative
position of the links with
The Robotic Joints
 The Robotic Joints
A twisting joint (T) is also a rotational joint,
where the rotation takes place about an
axis that is parallel to both adjoining
links.
The Robotic Joints
A revolving joint (V) is another
rotational joint, where the rotation
takes place about an axis that is
parallel to one of the adjoining links.
Usually, the links are aligned
perpendicular to one another at this
kind of joint. The rotation involves
revolution of one link about another.
ROBOT CONFIGURATIONS
ROBOT CONFIGURATIONS
cont.
Robot joints
Translational motion
Linear joint (type L)

Orthogonal joint (type O)

Rotary motion
Rotational joint (type R)

Twisting joint (type T)

ASIMO(Advanced Step In
Mobility) robot
How many degrees of
freedom?