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Chapter 6 Introduction To Robotics

This document provides an introduction to robotics, including definitions of robots and robotics, a brief history, and descriptions of the main components and types of robots. It defines a robot as an automated machine that can perform mechanical functions like a human. The main types discussed are manipulators for industrial automation, walking robots, and mobile robots. Manipulators have two main parts - an end effector and articulated mechanical structure. The document also describes the typical parts of a robot like its mechanism, perception capabilities, controller, and interfaces. It provides an overview of robot mechanical structures, parts like links and joints, and common specifications.

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352 views13 pages

Chapter 6 Introduction To Robotics

This document provides an introduction to robotics, including definitions of robots and robotics, a brief history, and descriptions of the main components and types of robots. It defines a robot as an automated machine that can perform mechanical functions like a human. The main types discussed are manipulators for industrial automation, walking robots, and mobile robots. Manipulators have two main parts - an end effector and articulated mechanical structure. The document also describes the typical parts of a robot like its mechanism, perception capabilities, controller, and interfaces. It provides an overview of robot mechanical structures, parts like links and joints, and common specifications.

Uploaded by

Siferaw Negash
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 1

Introduction to Robotics
Contents
• A definition,
• History,
• The parts of a robot manipulator system,
• Robot component modularity,
• Robot manipulator classification,
• Industrial, economic and social impact of
robots
Introduction

Basic Definitions:
•Robot
• Any automated machine programmed to perform specific mechanical functions
in the manner of a man
• Automatically controlled, reprogrammable, multipurpose mechanical system
with several degrees of freedom, which may be either fixed in place or mobile

•Robotics – the science dealing with design, construction and operation of robots
Robot applications
• Industrial automation
• Medical
• Service
• Transport
• Underwater
• Entertainment
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
– Imitate walking pattern of man and animals
– Research and entertainment
• Mobile robots
– Wheeled robots
– Used for military, rescue operation and so on
Robot parts
• Mechanism
• Perception capability
• Controller
• Communication interface
• Work cell and peripheral devices
Robot mechanical parts and structure

• The articulated mechanical parts composed of


– Link
• Mechanical part which forms the body and has length
and shape
– Joints
• Connects two successive links and limits the type of
relative motion between them
• Degree of freedom the number of independent
motions between links
• Prismatic joint or revolute joint – single DOF
• Universal joint – 2 DOF
• Spherical joint – 3 DOF
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
Robot mechanical structure
• Tree type
– A robot with one end fixed but having multiple
open ends which branch like a tree
Robot structures
• Parallel robot(closed kinematic)
– Robotic structures having multiple bases and
closed structures
Robot specification
• Work space – the space that a robot can
reach from a given base
• Payload – the maximum load that a robot
manipulator can carry
• Accuracy- distance between final position
and desired position
• Repeatability- maximum distance between
two positions reached by the robot from
two different starting point
Types of manipulators
• Depending up on the mechanical structure ( type of joints
used and their DOF) manipulators can be divided into
– Rectangular robot
• Has prismatic joints at all joints
• The workspace is rectangular
– Cylindrical robot
• Has one revolute and two prismatic joints
– Spherical robot
• Has all joints revolute
Common types of industrial robots
• SCARA robot

• PUMA robot
• Kuka
• Fanuc

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