Robotics and Automation Control Er.Rashmi Assistant Professor GNA University

ROBOTICS It is ability to perform on its own, going to the extent of unmanning several operations. To relieve man from tedious and mindless, repetitive and hazardous jobs. Robotics in Inter dispilnary field of study

Important areas of robotics ?????

Prothesis

Exoskeltons

cs

Locomotive device Locomotive Robot series

Laws of Robotics

Functions of ROBOT SENSING Decision Making Performing

Difference between ROBOT and Automated Machine Automation: the machine produces a job following a set of operational jobs at different times. Different sequence can be addressed by programming.

Automation

Robot- is programmable, sensing and perception, function automatically Carry out different tasks

Study about Numerically controlled technology

Advantages and disadvantage ?????

Types of Robots General Purpose Special purpose welding,spray painting Telerobot Mobile robot Autonomous robot Androids

Basic Components of Robots BASE MANIPULATOR ARM END EFFECTORS ACTUATORS AND TRANSMISSION CONTROLLER SENSORS

MANIPULATOR ARM Revolute pair (R)-1 DOF Prismatic pair (P)-1 DOF Cylindrical Pair (C)- 2DOF

Universal hook’s Joint

End effector Gripping methods Mechanical clamping Magnetic gripping Vacuum gripping

Actuators and Transmission Pneumatic drives Hydraulic drives Electrical drives

Pneumatic drives

Hydraulic drives

Piezoelectric Actuators http://www.robotplatform.com/knowledge/actuators/types_of_actuators.html

Electrical Drives

Transmission

Controller

Sensors Tactile sensors- (contact sensor) must be brought in contact with the object to obtain signals to measure the necessary qualities. Force sensor, Torque sensors, Touch sensors, Position sensor

Torque sensors Touch sensors Position sensors

Position sensors

Non tactile sensors Contactless sensors Proximity sensors Electro-optical sensors Range imaging sensors

Basic Motions 6 motions Vertical motion Radial motion Rotational motion Pitch motion Roll motion yaw

DOF Horizontal travel Rotary movement Radial arm movement Vertical arm movement Rotary wrist movement Wrist bend Wrist sweep

Basic components of Microprocessor based robotic system

Six axes

Robot Classification Standard classification Broad classification General classification

Standard Classification Mechanical configuration based It considers various joints, links, physical structure of robot and relation to each other. Cartesian coordinate configuration Cylindrical configuration Spherical configuration Jointed-arm configuration (Revolute)

Control method based it considers the type of techniques implement to control the robot. i.e; 1.Non Servo controlled , 2. Servo controlled

Cartesian coordinate config. Cartesian or rectilinear robot also called as gantry robot, has three mutually perpendicular axes which defines a rectangular work volume. Links of manipulator are constrained to move in linear motion. (Prismatic) Cartesian coordinates may be of two types. Cantilevered Cartesian Gantry-style Cartesian

Cylindrical Config. Arm move up and down Arm move radially w.r.t The column. Θ=360 not permitted Due to h,e,p connections or lines.

Spherical (polar)configuration It has telescopic arm, which pivots about a horizontal axis and also rotates about a vertical axis. Work envelope of such robot is a portion of sphere due to mechanical and actuators connections.

Range of spherical coordinate robot

Jointed-arm configuration (Revolute) Most resembles a human arm. Consists series of links connected by rotary joints which are referred as Shoulder, arm, wrist joints. Pure spherical, parallelogram sph, cylinderical

SCARA http://www.southampton.ac.uk/~rmc1/robotics/arirobot.htm

Control Classification Non servo controlled (limited sequence robots, end point robots, pick and place or bang bang robots) Controlled by setting mechanical stops or limit switches to establish end points to travel of each joints Servo controlled robots Subdivided- continues path (CP) point to point (PTP) Info abt position and velocity monitored and fed back to control system. Control system control the movements.

Mechanical Inaccuracies Results from the various errors that can occur in a robot construction. These includes gear, backlash, stretching of pulley cords, leakage of fluids or material and structural imperfections. Such errors degrade the overall accuracy of the robot. And are magnified when the arm is fully extended.

Broad Classification Programmable/Reprogrammable general purpose robots Tele-operated, Man controlled robots or man-in-the-loop manipulator Intelligent Robot

General Classification Special purpose robots General Purpose robot They can be Non-servo controlled Servo controlled Sensory robots