Introduction to Robotics Presented BY: S.Pradeep AP/MCT

What is the first thing that comes to mind when you think of a robot? Answer fast..!!!! Any movies.. Any facts.. Any real technologies..!!

Some guesses… Androids in Star Wars Terminator Star Trek: The Next Generation “May the force be with you” - Yoda “Money doesn’t make you happy, I now have $50 million but I was just as happy when I had $48.” - Arnold “It is possible to commit no errors and still lose. That is not a weakness.. Tats life..!”

‘IV MCT’ Guess would be.. Enthiran

Bitter TRUTH is : Science Fiction Because: Stories Movies Imagination, etc.. Because: “Not enough Common - Sense” to interact.

Real Robots Sojourner Exploration Rover ASIMO

Common Areas of robots usage. Work that is too dangerous, boring, or just plain nasty. Can be found in auto, medical, manufacturing and space industries.

But what exactly is a robot? There really is no standard definition. There are some essential characteristics that a robot must have : Sensing Movement  Energy  Intelligence 

So what is a robot? It is a system that contains sensors, control systems, manipulators, power supplies and software all working together to perform a task. Designing, building, programming and testing a robots is a combination of physics, mechanical engineering, electrical engineering, structural engineering, mathematics and computing.

Basic Components of a Robot Five major system

Block Diagram

Controller That coordinates all movements of the mechanical system. Receives input from the environment through various sensors Linked to input/output and monitoring devices Commands issued by the controller activate the motion control mechanism The controller has three levels of hierarchical control.

Manipulator The manipulator is the arm of the robot similar to hand 🖐. Similar to a human hand which must move materials, parts, tools, or special devices through various motions to provide useful work.

Manipulator (Contd.) The manipulator is made up of a series of segments and joints much like those found in the human arm Joints connect two segments together and allow them to move relative to one another. The joints provide either linear (straight line) or rotary (circular) movement.

Manipulator (Contd.) A robot uses actuators to move its arm along programmed paths and then to hold its joints rigid once the correct position is reached. Two basic types of motion provided by actuators: linear and rotary. Linear actuators provide motion along a straight line; they extend or retract their attached loads. Rotary actuators provide rotation, moving their loads in an arc or circle.

End Effector The end effector is the robot’s hand, or the end-of- arm tooling on the robot. It is a device attached to the wrist of the manipulator for the purpose of grasping, lifting, transporting, manoeuvring, or performing operations. The area within reach of the robot’s end effector is called its work envelope.

Means for Programming The means for programming is used to record movements into the robot’s memory The teach pendant, also called a teach box or handheld programmer, teaches a robot the movements required to perform a useful task. Or by using programming languages like Matlab, Labview.

Wrist Configuration Wrist assembly is attached to end-of-arm. End effector is attached to wrist assembly. Function of wrist assembly is to orient end effector Two – Three degree of freedom: Roll Pitch Yaw

Degrees of Freedom Degrees of freedom (DOF) is a term used to describe a robot’s freedom of motion in three dimensional space. The ability to move forward and backward, up and down, and to the left and to the right For each degree of freedom, a joint is required. A robot requires six degrees of freedom to be completely versatile. The pitch, or bend, is the up-and-down movement of the wrist. The yaw is the side-to-side movement. The roll, or swivel, involves rotation.

Assignment - 1 Ready ah?