2. Robotics Robotic History Robotic Technology Types of Robots

3. A re-programmable, multifunctional, automatic industrial machine designed to replace human in hazardous work. It can be used as :- An automatic machine sweeper An automatic car for a child to play with A machine removing mines in a war field In space In military, and many more..

4. Robotics is science of designing or building an application of robots. Simply,Robotics may be defines as “The Study of Robots”. The aim of robotics is to design an efficient robot. He derived robot from the Czech word robota, which means “drudgery” or “compulsory labor”. Robotics is needed because:- Speed Can work in hazardous/dangerous temperature Can do repetitive tasks Can do work with accuracy

6. The word robot was introduced to the public by Czech writer Karel Capek(1890-1938) in his play R.U.R. (Rossum's Universal Robots), published in 1920. The play begins in a factory that makes artificial people called robots. Capek was reportedly several times a candidate for the Nobel prize for his works. The word "robotics", used to describe this field of study, was coined accidentally by the Russian –born, American scientist and science fiction writer, Isaac Asimov(1920-1992) in 1940s.

7. Asimov also proposed his three "Laws of Robotics", and he later added a “zeroth law”. Zeroth Law : A robot may not injure humanity, or, through inaction, allow humanity to come to harm First Law : A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law Second Law : A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law Third Law : A robot must protect its own existence as long as such protection does not conflict with a higher order law.

9. Sensors Effectors Actuators Controllers Arms Most industrial robots have at least the following five parts:

12. Automation vs. robots  Automation –Machinery designed to carry out a specific task  Bottling machine  Dishwasher  Paint sprayer  Robots – machinery designed to carry out a variety of tasks  Pick and place arms  Mobile robots  Computer Numerical Control machines (These are always better than robots, because they can be optimally designed for a particular task).

13. ` The most common types of Robots are..

14. Mobile robots are of two types…. Rolling robots have wheels to move around. They can quickly and easily search. However they are only useful in flat areas. Robots on legs are usually brought in when the terrain is rocky. Most robots have at least 4 legs; usually they have 6 or more.

15. tonomous Robots are not only used to explore areas or imitate a human being. Most robots perform repeating tasks without ever moving an inch. Most robots are ‘working’ in industry settings and are stationary. Autonomous robots are self supporting or in other words self contained. In a way they rely on their own ‘brains’.

16. A person can guide a robot by remote control. A person can perform difficult and usually dangerous tasks without being at the spot where the tasks are performed. Virtual robots don’t exits In real life. Virtual robots are just programs, building blocks of software inside a computer.

17. Robots for 3D Jobs  Dangerous  Dull  Dirty

18. Ideal Tasks Tasks which are:  Dangerous  Space exploration  chemical spill cleanup  disarming bombs  disaster cleanup  Boring and/or repetitive  Welding car frames  part pick and place  manufacturing parts.  High precision or high speed  Electronics testing  Surgery  precision machining.

19. Fundamental Components of Autonomous Robots A brain (or brains) A brain (or brains) Body: physical chassis that holds other pieces Body: physical chassis that holds other pieces Actuators: allows to move. Motors, hydraulic pistons, lamps, etc. Actuators: allows to move. Motors, hydraulic pistons, lamps, etc. Sensors Sensors Power source Power source Communication

20. Sensors of Human  Eyes  Ears  Nose  Skin  Tongue  Equilibrium: Balance  …  6 th sense(?)

21. Robot Sensor Types  Passive Sensors (does not require power supply)  Touch  Temperature  Balance  …  Active Sensors (require power supply)  Light  Distance  Rotation  Sonar  …

22. Sensors for Mobile Robots  Contact sensors: Bumpers  Internal sensors  Accelerometers (spring-mounted masses)  Gyroscopes (spinning mass, laser light)  Compasses, inclinometers (earth magnetic field, gravity)  Proximity sensors  Sonar (time of flight)  Radar (phase and frequency)  Laser range-finders (triangulation, tof, phase)  Infrared (intensity)  Visual sensors: Cameras  Satellite-based sensors: GPS

23. Kinematics and dynamics (cont.)  Actions  Simple joints  prismatic—sliding joint, e.g., square cylinder in square tube  revolute—hinge joint  Compound joints  ball and socket = 3 revolute joints  round cylinder in tube = 1 prismatic, 1 revolute  Mobility  Wheels  multipedal (multi-legged with a sequence of actions)

24. Cartesian Coordinate Robot This type of robot is one that consists of a column and an arm and is sometimes called an x-y-z robot (L-L-L). Z Axis: Vertical motion Z Y Y Axis: Longitudinal motion X X Axis: Lateral motion

25. Z Y X Cartesian Coordinate Robots Cartesian/Gantry robots have a rectangular work envelope. A work envelope can be defined as the area in which a robot works.

26. Cartesian Coordinate Robots  Arc welding  Handling at machine tools  Most assembly operations  Application of sealant  Pick and place Z Y X

27. Cylindrical Coordinate Robots Similar to the Cartesian robot. Contains a column and a base, but the column is able to rotate (L-R-L). Z Axis: Vertical motion Z Y Y Axis: Longitudinal motion R Axis: Rotation around the Z Axis – Base rotate R

28. Cylindrical Coordinate Robots Cylindrical Work Envelope Z Y R

29. Cylindrical Coordinate Robots  Most assembly operations  Handling at machine tools  Spot welding  Handling at diecasting machines Y X Y Z Y R

30. Polar Coordinate Robots This type of robot consists of a rotary base, an elevation pivot, a telescoping extension, and a retraction boom (R-R-L). Y Axis: Longitudinal motion Y R Axis: Rotation around the Z Axis – Base rotate R P P Axis: Rotation around the X Axis – Elevation

31. Polar Coordinate Robots Spherical Work Envelope X Y P Y R

32. Polar Coordinate Robots  Handling at machine tools  Spot welding  Handling at diecast machines  Fettling machines  Gas welding  Arc welding X X Y P Y R

33. Jointed Arm Robots This type of robot resembles a human arm. Usually stands on a rotating base and has an articulating shoulder and elbow joints (R-R-R). J1: Base/waist J1 J2 J2: Shoulder J3 J3: Elbow J4 J4: Wrist

34. Jointed Arm Robots Spherical Work Envelope X Y J2 J3 J1 J4

35. Jointed Arm Robots  Most assembly operations  Handling at diecast machines  Fettling machines  Gas welding  Arc welding  Spray painting J2 J3 J1 J4

36. Example Axis Range

37. SCARA Robots Selectively Compliant Articulated Robot Arm Z Axis: Vertical motion Z R Axis: Rotation around the Z Axis – Base rotate R Y Axis: Rotation creates longitudinal motion Y Y

38. SCARA Robots It is conventional to define the joints of a wrist roll, pitch, and yaw. The arm and the wrist give the robot the required six degrees of freedom that permit the tool to be positioned and orientated as required by the task. Pitch Yaw Roll Spherical Wrist

39. SCARA Robots Irregular Work Envelope X Y Z R Y Y

40. SCARA Robots  Pick and place  Application of sealant  Most assembly operations  Handling at machine tools X Y Z Y R

41.  Going to far away planets.  Going far down into the unknown waters and mines where humans would be crushed  Giving us information that humans can't get  Working at places 24/7 without any salary and food. Plus they don't get bored  They can perform tasks faster than humans and much more consistently and accurately  Most of them are automatic so they can go around by themselves without any human interference.  People can lose jobs in factories  It needs a supply of power  It needs maintenance to keep it running.  It costs money to make or buy a robot