UNIT - 5

NETWORKING
Overview
 IEEE Standards for Networking of
sensors, actuators and controllers
 Introduction to Field bus communication
and its Protocols
Field bus
CAN bus
PROFI bus
Ethernet.
 Introduction to Robotics.
INTRODUCTION TO
ROBOTICS
(VII Semester, B.E. EEE)
 Chapter 2: Fundamentals of Robot
Technology
 Robot history and Definition
 Asimov Laws
 Robot Anatomy
 Robot Motions
 Work Volume
 Degree of Freedom (DOF)
 Robot Drive Systems
 Speed of Motions
 Load-carrying Capacity
 Control Systems
 Dynamic Performance
 Compliance
 End Effectors
 Sensors

August 1, 2021 4 Cont.

 Origin of ROBOT
Robot: 1921 Czechoplaywriter Karel Capek
Robot means worker (Robota)

Robotics: Isaac Asimov, SF Writer

Robotics means science of dealing with
robots.
What is a Robot?
 Electro-Mechanical device
 Performs various tasks
 May be human controlled or automated
 It finds its uses in all aspects of our life
 Definition of Robot
Webster:
A machine in the form of a human being
that performs the mechanical functions of a
human being but lacks sensitivity.
 Definition of Robot
RIA(Robot Institute of America):
A robot is a programmable
multifunctional manipulator designed to
move, materials, parts, tools, or specialized
devices, through variable programmed
motions for the performance of tasks.
Definition of Robot
A robot is a system that combines
mechanical, electronic and electrical parts to
implement one or more functions. Robot
control is done with the help of electric and
electronics circuitry. To obtain the desired
behavior , the control components vary
current and voltage throughout the circuitry
Definition of Robot

Robot is a machine which mimics human

behavior
 Historical Perspective
1770 – Brid organ – sequence machine
1801 – joseph jacquard – textile machine
(punch cards)
1830 – united state, christopher – cam operated
lathe
1982 – united state, seward babbitt – motorized
crane with gripper
1921 – Czech Karel Capeck – Robota
1938- united state, willard pollard –
programmable paint sparaying machanism
1946- George Devol – playback device
1954- first programmable robot by
George Devol – universal automation
1961- MIT – Mechanical hand 1
1964 – AI research laboratories MIT, SRI
1968 – SRI – mobile robot with vision
capability (called shakey)
1970 – Standford – ARM
1976 – Viking1& 2- Robot Arm
1978 – Puma – programmable universal
machine for assembly by unimation
 ASIMOV Three law of Robotics
Law Zero: A robot may not injure humanity, or,
through inaction, allow humanity to come to harm
Law One: A robot may not injure human being, or,
through inaction, allow a human being to come to
harm, unless this world would violate a higher order
law
Law Two: A robot must obey orders given it by
human beings, except where such orders would
conflict with a higher order law
Law Three: A robot must protect its own existence
as long as such protection does not conflict with a
higher order law
Simply
ASIMOV Three law of Robotics
1. Do not harm human being
2. Obey human being
3. Protects itself from harm
Relationship between Human, robots and
automation
Human Machine Automation
Brain Processors In charge of operations,
Example: Computer chips and
software.
Skin, nose, ears, sensors Capture tactile information, light
taste buds and sounds
Eyes Vision system Work with optical signals: able
to see example: TV camera
Arms, hands End- Effectors, Wrist Manipulate and support tools,
Pliers, drills, poles, hammers,
brooms, etc.
Feet Transport system Use movement mechanism,
wheels, feet, wings, propellers,
rocket, etc
Scientifically Communication Used to communicate and
unidentified systems operate from a distance.
Examples: Telephones, internet,
fax.
Progressive advancement in Robots
Robot Anatomy
 Robot Components
1. Manipulator or Rover: Main body of
robot (Links, Joints, other structural
element of the robot)

2. End Effecter: The part that is connected to

the last joint hand) of a manipulator.

3. Actuators: Muscles of the manipulators

(servomotor, stepper motor, pneumatic and
hydraulic cylinder).
4. Sensors: To collect information about the internal
state of the robot or To communicate with the
outside environment

5. Controller: Similar to cerebellum. It controls and

coordinates the motion of the actuators.

6. Processor: The brain of the robot. It calculates

the motions and the velocity of the robot’s joints,
etc.

7. Software: Operating system, robotic software and

the collection of routines.
 Robot Anatomy
 The physical construction of the body, arm and wrist of the machine
 The wrist is oriented in a variety of positions
 Relative movements between various components of body, arm and wrist are
provided by a series of joints
 Joints provide either sliding or rotating motions
 The assembly of body, arm and wrist is called “Manipulator”

August 1, 2021 22 Cont.

 Robot Anatomy..
 Attached to the robot’s wrist is a hand which is called “end effector”
 The body and arm joints position the end effector and wrist joints
orient the end effector

August 1, 2021 23 Cont.

 Robot Anatomy..
Robot Configurations
 Variety of sizes, shapes and physical configuration
1. Cartesian Coordinates Configuration
2. Cylindrical Configuration
3. Polar or Spherical Configuration
4. Articulated or Jointed-arm Configuration
5. Selective Compliance Assembly Robot Arm (SCARA) Configuration

August 1, 2021 24 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration
 Uses three perpendicular slides to construct x , y and z axes
 X-axis represents right and left motions, Y-axis represents forward-backward motions and Z-axis
represents up-down motions
 Kinematic designation is PPP/LLL
 Other names are xyz robot or Rectilinear robot or Gantry robot
 Operate within a rectangular work volume

August 1, 2021 25 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration..

August 1, 2021 26 Cont.

August 1, 2021 Cont. 27
 Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Advantages
 Linear motion in three dimension
 Simple kinematic model
 Rigid structure
 Higher repeatability and accuracy
 High lift-carrying capacity as it doesn’t vary at different locations in work volume
 Easily visualize
 Can increase work volume easily
 Inexpensive pneumatic drive can be used for P&P operation

August 1, 2021 28 Cont.

 Robot Anatomy..
1. Cartesian Coordinate Configuration..
 Disadvantages
 requires a large volume to operate in
 work space is smaller than robot volume
 unable to reach areas under objects
 must be covered from dust

 Applications
 Assembly
 Palletizing and loading-unloading machine tools,
 Handling
 Welding

August 1, 2021 29 Cont.

 Robot Anatomy..
2. Cylindrical Configuration
 Use vertical column which rotates and a slide that can be moved up or down along the column
 Arm is attached to slide which can be moved in and out
 Kinematic designation is RPP
 Operate within a cylinder work volume
 Work volume may be restricted at the back side

August 1, 2021 30 Cont.

 Robot Anatomy..
2. Cylindrical Configuration..

August 1, 2021 31 Cont.

 Robot Anatomy..
2. Cylindrical Configuration..
 Advantages
 Simple kinematic model
 Rigid structure & high lift-carrying capacity
 Easily visualize
 Very powerful when hydraulic drives used
 Disadvantages
 Restricted work space
 Lower repeatability and accuracy
 Require more sophisticated control
 Applications
 Palletizing, Loading and unloading
 Material transfer, foundry and forging

August 1, 2021 32 Cont.

 Robot Anatomy..
3. Polar or Spherical Configuration
 Earliest machine configuration
 Has one linear motion and two rotary motions
 First motion is a base rotation, Second motion
correspond to an elbow rotation and Third
motion is radial or in-out motion
 Kinematic designation is RRP
 Capability to move its arm within a spherical
space, hence known as ‘Spherical’ robot
 Elbow rotation and arm reach limit the design
of full spherical motion

August 1, 2021 33 Cont.

 Robot Anatomy..
3. Polar or Spherical Configuration..

August 1, 2021 34 Cont.

 Robot Anatomy..
3. Polar or Spherical Configuration..
 Advantages
 Covers a large volume
 Can bend down to pick objects up off the floor
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Applications
 Palletizing
 Handling of heavy loads e.g. casting, forging

August 1, 2021 35 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration
 Similar to human arm
 Consists of two straight components like human forearm and upper arm, mounted o a vertical
pedestal
 Components are connected by two rotary joints corresponding to the shoulder and elbow
 Kinematic designation is RRR
 Work volume is spherical

August 1, 2021 36 Cont.

 Robot Anatomy..
4. Jointed Arm Con figuration..

August 1, 2021 37 Cont.

 Robot Anatomy..
4. Jointed Arm Con figuration..

August 1, 2021 38 Cont.

 Robot Anatomy..
4. Jointed Arm Configuration..
 Advantages
 Maximum flexibility
 Cover large space relative to work volume objects up off
the floor
 Suits electric motors
 Higher reach ability
 Disadvantages
 Complex kinematic model
 Difficult to visualize
 Structure not rigid at full reach
 Applications
 Spot welding, Arc welding

August 1, 2021 39 Cont.

 Robot Anatomy..
5. SCARA Configuration
 Most common in assembly robot
 Arm consists of two horizontal revolute joints at the waist and elbow and a final prismatic joint
 Can reach at any point within horizontal planar defined by two concentric circles
 Kinematic designation is RRP
 Work volume is cylindrical in nature
 Most assembly operations involve building up assembly by placing parts on top of a partially complete
assembly

August 1, 2021 40 Cont.

 Robot Anatomy..
5. SCARA Con figuration..

August 1, 2021 41 Cont.

 Robot Anatomy..
5. SCARA Con figuration..

August 1, 2021 42 Cont.

 Robot Anatomy..
5. SCARA Configuration..
 Advantages
 Floor area is small compare to work area
 Compliance
 Disadvantages
 Rectilinear motion requires complex control of
the revolute joints
 Applications
 Assembly operations
 Inspection and measurements
 Transfer or components

August 1, 2021 43 Cont.

 Robot Motions
 Industrial robots perform productive work
 To move body, arm and wrist through a series of motions and positions
 End effector is used to perform a specific task
 Robot’s movements divided into two categories:
1. Arm and body motions
2. Wrist motions

 Individual joint motions referred as ‘ DOF ’

 Motions are accomplished by powered joints

August 1, 2021 44 Cont.

 Robot Motions..
 Three joints are associated with the action of arm and body
 Two or three used to actuate the wrist
 Rigid members are used to connect manipulator joints are
called links
 Input link is closest to the base
 Output link moves with respect to the input link

August 1, 2021 45 Cont.

 Robot Motions..
 Joints involve relative motions of the adjoining links that may be linear or rotational
 Linear joints involve a sliding or translational motion which can be achieved by piston,
telescopic mechanism
 May be called ‘Prismatic’ joint
 Represented as L or P joint
 Four types of rotating motion:
1. Linear (L)
2. Rotational (R)
3. Twisting (T)
4. Revolving (V)

August 1, 2021 46 Cont.

 Robot Motions..

August 1, 2021 47 Cont.

 Robot Motions..
 Physical configuration of the robot can be described
by a joint notation scheme
 Considering the arm and body first
 Starting with the joint closest to the base till the joint
connected to the wrist
 Examples are LLL, TLL, TRL, TRR, VVR
 Wrist joints can be included for notation
 From joint closest to the arm to the mounting plate
for the end effector have either T or R type
 Examples are TRL : TRT, TRR : RT
 The scheme also provide that robot move on a track
or fixed to a platform
 Example TRL : TRT, L-TRL : TRT
August 1, 2021 48 Cont.
 Robot Motions..

August 1, 2021 49 Cont.

 Robot Motions..

August 1, 2021 50 Cont.

 Robot Motions..

August 1, 2021 51 Cont.

 Degree of Freedom (DOF)

Rotate Base of Arm

Pivot Base of Arm
Bend Elbow
Wrist Up and Down
Wrist Left and Right
Rotate Wrist

August 1, 2021 52 Cont.

 Degree of Freedom..
 It is a joint , a place where it can bend or
rotate or translate
 Can identify by the number of actuators on
the arm
 Few DOF allowed for an application because
each degree requires motor, complicated
algorithm and cost
 Each configurations discussed before utilizes
three DOF in the arm and the body
 Three DOF located in the wrist give the end
effector all the flexibility

August 1, 2021 53 Cont.

 Degree of Freedom..
 A total 6 DOF is needed to locate a robot’s
hand at any point in its work space
 The arm and body joints move end effector to
a desired position within the limits of robot’s
size and joint movements
 Polar, cylindrical and jointed arm
configuration consist 3 DOF with the arm and
body motions are:
1. Rotational traverse: Rotation of the arm about
vertical axis such as left-and-right swivel of the
robot arm about a base

August 1, 2021 54 Cont.

 Degree of Freedom..

2. Radial traverse: Involve the extension and

retraction (in or out movement) of the arm
relative to the base
3. Vertical traverse: Provide up-and-down motion
of the arm
 For a Cartesian coordinate robot, 3 DOF are vertical
movement (z-axis motion), in-and-out movement (y-
axis motion), and right-and-left movement (x-axis
motion) which are achieved by slides of the robot arm

August 1, 2021 55 Cont.

 Degree of Freedom..

August 1, 2021 56 Cont.

 Degree of Freedom..
 Wrist movement enable the robot to orient the
end effector properly to perform a task
 Provided with up to 3 DOF which are:
1. Wrist Pitch/Bend: Provide up-and-down
rotation to the wrist
2. Wrist Yaw: Involve right-and-left rotation of the
wrist
3. Wrist Roll/Swivel: Is the rotation of the wrist
about the arm axis

August 1, 2021 57 Cont.

 Degree of Freedom..

August 1, 2021 58 Cont.

 Degree of Freedom..

August 1, 2021 59 Cont.

 Thank You

August 1, 2021 60