ADDIS ABABA SCIENCE & TECHNOLOGY

UNIVERSITY

SCHOOL OF MECHANICAL & ELECTRICAL ENGINEERING

DEPARTMENT OF ELECTRO-MECHANICAL ENGINEERING

Well-come ! Introduction to Robotics

Chapter-One
Fundamentals of Robot

By
 Chapter-1- • What is a Robot? • Robot Components
Introduction • The difference between Robot • Robots Degrees of
to and Crane Freedom
Robotics • Robot Types • Robot Joints
• Industrial Robot/Manipulator • Robot Coordinates
• What is Robotics? • Reference Frames
• History of Robotics • Programming Modes
• Advantages and Dis-Advantages • How to specify a Robot?
of Robots
• Workspace
• Robot mechanical parts and
• Robot Application
structure

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What is a Robot ?

A machine that resembles a human being and

does mechanical routine tasks on command. Random House
Dictionary

An industrial robot is a re-programmable,

multifunctional manipulator designed to
move materials, parts, tools, or specialized
devices through variable programmed
Robotics
motions for the performance of a variety of Association of
tasks. America

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Definition: A robot is a system that posses a number of
links attached serially to each other with joints
where each joint can be moved by some type
of actuator.

It can carry a certain amount of load, and

each link is controlled by a central controller
which controls the actuators.

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The difference between Robot and Crane
Their main difference is that :
Robot crane
Controlled by a computer that controlled by a human
runs a program. who operates and
controls the actuators.

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Robot Types

Manipulators: • Used for industrial automation.

• Most of the robots (90%).
• Have two parts (end effector + articulated
mechanical structure)
• Mostly used for automobile industry.

Walking robots: Mobile robots :

• Imitate walking • Wheeled robots
pattern of man and • Used for military
animals. rescue operations
• Research and and so on
entertainment.

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Industrial Robot/A Manipulator

Is composed of a series of links connected to

each other via joints. Each joint usually has an
actuator (a motor for eg.) connected to it.

One end of the manipulator is usually

connected to a stable base and the other end
is used to deploy a tool.

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What is Robotics?

Robotics is the art, knowledge base, and the know-how

of designing, applying, and using robots in
human endeavors.

is an interdisciplinary subject that benefits

from mechanical engineering, electrical and
electronic engineering, computer science,
biology, and many other disciplines.

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History of Robotics

1922 Karel Čapek’s novel, Rossum’s Universal Robots, word

“Robota” (worker)

1952 NC machine (MIT)

1955 Denavit-Hartenberg Homogeneous Transformation

1967 Mark II (Unimation Inc.)

1968 Shakey (SRI) - intelligent robot

1973 T3 (Cincinnati Milacron Inc.)

1978 PUMA (Unimation Inc.)

1983 Robotics Courses

21C Walking Robots, Mobile Robots, Humanoid Robots

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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.

• Robots work continuously

without experiencing fatigue of
problem.

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…. cont’d.

• Robots have repeatable precision

at all times.

• Robots can be much more accurate

than human.

• Robots can process multiple

stimuli or tasks simultaneously.

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Dis-advantages 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.
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Robot mechanical parts and structure

Types of mechanical structures

• Serial or simple open

with one end fixed at a base and the other end being open, links are
joined by joint one after the other.

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…. cont’d.

• Tree type
A robot with one end fixed but having multiple open ends which
branch like a tree.

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…. cont’d.

• Parallel robot (closed kinematic)

Robotic structures having multiple bases and closed structures.

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Robot Components

A robot as a system consist of the following elements which are

integrated together to perform a whole:

1. Manipulator
2. Pedestal
3. Controller
4. End Effector
5. Power Source

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…. cont’d.

❶ Manipulator

• Base
❶
❶
• Appendages
❶
✓ Shoulder
❶
✓ Arm
✓ Grippers

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…. cont’d.

❷ Pedestal

(Human waist)
• Supports the
manipulator.
• Acts as a
❷ counterbalance.

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…. cont’d.

❸ Controller

(The brain)
• Issues instructions to the
robot.
• Controls peripheral
devices.
• Interfaces with robot.
• Interfaces with humans.

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…. cont’d.

❹ End-effector

(The hand)
• Spray paint Attachments

❹ • Welding attachments
• Vacuum heads
• Hands
• Grippers

The end-effector is specified according to the task the robot should

execute.
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…. cont’d.

❺ Power source

❺
(The food)
❺
• Electric
• Pneumatic
❺ • Hydraulic

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Robots Degrees of Freedom (DoF)

Number of independent motions: for example

for a bolt and nut mechanism has a single DoF.

In most manipulators this is usually the number

of joints.

Number of independent position variables which

would has to be specified to locate all parts of a
mechanism.
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Robot Joints

Robots may have different types of joints, such as linear, rotary,

sliding, or spherical.

Since spherical joints are difficult to control, hence, they are

not common in robotics.

Most robots have either a linear (prismatic) joint or a rotary

(revolute) joint.

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…. cont’d.

Prismatic joints Revolute joints

• Linear; • Rotary;
• There is no rotation involved. • There is no linear translation involved.

Examples: Examples:
• Hydraulic • Electric motors
• Pneumatic cylinder • Hydraulic/Pneumatic motors

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Robot Coordinates

Cartesian/rectangular/gantry (3P) :
3 cylinders joint.

Cylindrical (R2P) :
2 Prismatic joint and 1 revolute joint.

Spherical (2RP) :
1 Prismatic joint and 2 revolute joint

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Articulated/anthropomorphic (3R) :
All revolute(Human arm)

Selective Compliance Assembly Robot

Arm (SCARA): 2 paralleled revolute joint
and 1 additional prismatic joint.

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Reference Frames
Robots may be moved relative to different coordinate frames. The
most common reference frames are:

World reference frame:

used to define the motions

of the robot relative to the
other objects.

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Joint reference frame: Tool reference frame:
used to specify movements of each used to specify movements of the

individual joint of the robot. robot’s hand relative to a frame

attached to the hand.

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Programming Modes

• Physical Setup: PLC

• Lead Through/ Teach Mode: Teaching Pendant/

Playback, p-to-p.

• Continuous Walk-Through Mode: Simultaneous

joint movement.

• Software Mode: Use of feedback information.

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How to specify a Robot?
A robot can be characterized using the following specifications:

Payload: The maximum amount of weight a robot can carry.

The payload of robots compared with their own weight
is usually very small.

Reach: The maximum distance a robot can reach within its

work envelop. It is a function of the robot’s joint lengths
and its configuration.

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 Precision: how accurately a specified point can be reached. It is a
function of the actuator resolution as well as feedback
element.

Repeatability: how accurately the same position can be reached if the

motion is repeated many times.
Repeatability is much more important than precision.

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Workspace

• Workspace is the collection of points in space which a robot can

reach.

• The robot workspace depends on its configuration and size of

its links and joints.

• The workspace may be found either mathematically by writing

equations that define robot’s links and joints or empirically by
moving each joint through its range of motions and subtracting
what it cannot reach.

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Typical workspaces for common robot configurations

Cartesian manipulator workspace | PPP | 3P

Cylindrical manipulator workspace | RPP | R2P

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…. cont’d.

Spherical manipulator workspace |RRP | 2RP

Articulated/Anthropomorphic manipulator workspace |RRR | 3R

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Robot Application
Why we use robots? To Perform 4A tasks in 4D environments.
• Automation • Dangerous

• Augmentation • Dirty

• Assistance • Dull

• Autonomous • Difficult

Some of the applications of robot are:

• Machine loading • Assembly operation • Hazardous environments
• Pick and place operations • Manufacturing • Underwater, space, and
• Welding • Surveillance remote locations
• Painting • Medical applications
• Sampling • Assisting disabled individuals

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Thank you very much !
if you have any question or suggestions you
are most welcome.

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