robotics Unit I

Course Overview

  • Course Name: Robotics & Automation

  • Course Code: EIE205

  • Faculty: Dr. K. Ghousiya Begum

  • Date: 2/9/2025

UNIT I: Introduction to Robotics

  • Definition and Origin of Robotics

  • Laws of Robotics

  • Classification of Robotics

    • Based on Coordinates

    • Power Source

    • Applications

  • Robot Specifications

  • Components of a Robotic System

    • Basic Building Blocks of Industrial Manipulator

    • Serial and Parallel Manipulator

  • Degrees of Freedom

  • Transmission Elements

  • Actuator Elements

    • Servo Motors

    • Stepper Motors

  • Sensors

    • Force Sensors, Tactile Sensors, Odometry Sensors, Range Sensors

  • Machine Vision Systems for Robots

Origin of Robotics

  • Fixed Automation

    • Characteristics: No intelligence; high investment cost; suited for long product life cycles.

  • Flexible Automation

    • Terminology: Flexible Manufacturing / CIMS.

  • Programmable Automation

    • Low production volume; demands intelligence; ideal for prototyping and customization.

Future Trends in Programmable Automation

  • AI-Driven Automation

    • Self-learning robots without explicit programming.

  • Collaborative Robotics (Cobots)

    • Work alongside humans in flexible environments.

  • Edge Computing

    • Real-time decision-making to reduce latency.

  • Digital Twins

    • Virtual commissioning to minimize deployment time.

Definition of Robots

  • Origin: The term "robot" comes from the Czech word "robota", meaning compulsory labor.

  • Robot Definition:

    • A computer-controlled machine programmed to manipulate objects while interacting with its environment.

    • Definition by the Robot Institute of America (1979): A reprogrammable multifunctional manipulator designed to handle materials, parts, tools, etc.

Laws of Robotics

  • Isaac Asimov's Laws:

    • Law One: A robot may not harm a human or allow a human to come to harm.

    • Law Two: Robots must obey human orders unless it conflicts with a higher law.

    • Law Three: Robots must protect their own existence unless it conflicts with a higher law.

    • Law Zero: A robot may not harm humanity.

Generations of Robots

  • 1st Generation: Industrial Robots (Manufacturing, Automation)

  • 2nd Generation: Service Robots

  • 3rd Generation: Ubiquitous Robots

  • 4th Generation: Genetic Robots

  • 5th Generation: Bio Robots

Robot Terminology

  • Links and Joints:

    • Links: Solid structural members of the robot.

    • Joints: Movable couplings between links.

  • Degree of Freedom (DoF): Number of independent movements a robot can make.

Robot Joints

  • Types of Joints:

    • Revolute Joint: Rotational movement.

    • Prismatic Joint: Linear movement.

Classification of Robotics

  • Based on Configuration/Geometry:

    • Cartesian Robot, Cylindrical Robot, Spherical Robot, Articulated/Anthropomorphic Robot.

Cartesian Robot (PPP)

  • Advantages: Highly accurate and versatile, less cost.

  • Applications: Sealing, CNC machines, 3D printing, etc.

Cylindrical Robot (PPR)

  • Advantages: Higher load capacity, rigid manipulator.

  • Applications: Machine tool loading, packing operations.

Spherical Robot (PRR)

  • Advantages: High speed, good for assembly tasks.

Articulated/Anthropomorphic Robot (RRR)

  • Advantages: High speed and large working envelope.

Robot Classification Based on Power Source

  • Types: Hydraulic, Pneumatic, Electrical.

Robot Specifications

  • Components:

    • Power Supply: Various sources (batteries, hydraulic, solar).

    • Actuators: Convert energy to movement (electric motors, hydraulics).

    • Sensors: Provide real-time information about the environment.

    • Controller: Coordinates all robot movements, receives inputs from sensors.

Actuator Elements

  • Types: Hydraulic, Pneumatic, and Electric Motors.

Sensor Types and Functions

  • Robot Sensors: Measure internal state and environmental factors.

    • Active Sensors: Emit energy, e.g., LiDAR.

    • Passive Sensors: Respond to ambient energy, e.g., temperature probes.

Machine Vision Systems

  • Involves camera systems, digitizing hardware, and software for image processing.

Key Takeaways

  • Understanding the definitions, classifications, and components of robotics enhances comprehension of how robots function and their applications across industries.

Course Overview

Course Name: Robotics & Automation

Course Code: EIE205

Faculty: Dr. K. Ghousiya Begum

Date: 2/9/2025

UNIT I: Introduction to Robotics

Definition and Origin of Robotics

Robotics is defined as the field of technology that deals with the design, construction, operation, and application of robots. The term "robot" originates from the Czech word "robota," which translates to compulsory labor, and was first popularized by Karel Čapek in his 1920 play, R.U.R. (Rossum's Universal Robots).

Laws of Robotics

Isaac Asimov's influential set of ethical guidelines for robotic behavior includes:

  • Law One: A robot may not harm a human or, through inaction, allow a human to come to harm.

  • Law Two: Robots must obey human orders except where such orders would conflict with the first law.

  • Law Three: A robot must protect its own existence as long as such protection does not conflict with the first or second law.

  • Law Zero: A robot may not harm humanity, or, by inaction, allow humanity to come to harm.

Classification of Robotics

Robots can be classified based on various criteria:

  • Based on Coordinates: Different workspaces defined by the robot's configuration, including Cartesian, Cylindrical, Spherical, and Articulated types.

  • Power Source: Robotics can be powered hydraulically, pneumatically, or electrically, affecting their applications and performance.

  • Applications: Robots serve in various industries such as manufacturing, healthcare, agriculture, and military sectors.

Robot Specifications

Key specifications include:

  • Components of a Robotic System: Essential parts include sensors, actuators, controllers, and power supplies.

  • Basic Building Blocks of Industrial Manipulator: Understanding the structure is crucial for applications in various fields such as assembly lines.

  • Degrees of Freedom: Represents the number of independent movements a robot can perform; higher degrees allow for more complex tasks.

Types of Robots

Generations of Robots

1st Generation: Industrial Robots - primarily for manufacturing and production automation.2nd Generation: Service Robots - designed for various human assistance tasks.3rd Generation: Ubiquitous Robots - integrated seamlessly into everyday life.4th Generation: Genetic Robots - focusing on adaptability and learning from interacting with their environments.5th Generation: Bio Robots - involving biological systems, mimicking living organisms to a certain extent.

Robot Joints and Terminology

Understanding robot mechanics includes:

  • Links: The solid structural members making up the robot's body.

  • Joints: The movable connections allowing for motion between links. Common joint types include:

    • Revolute Joint: Allows rotational movement around an axis.

    • Prismatic Joint: Provides linear movement along a single axis.

Classification of Robotics Based on Configuration

Robots Based on Configuration/Geometry

  • Cartesian Robot (PPP): Known for high accuracy and versatility, frequently used in applications such as CNC machining and 3D printing.

  • Cylindrical Robot (PPR): Offers higher load capacity and is ideal for tasks such as machine tool loading.

  • Spherical Robot (PRR): Utilized for tasks requiring high-speed movement, like assembly applications.

  • Articulated/Anthropomorphic Robot (RRR): These robots resemble the human arm and are adept at handling complex tasks in manufacturing.

Robot Specifications

Components

Key components include:

  • Power Supply: Varies for each robot; common types include batteries, hydraulic systems, and solar power.

  • Actuators: Convert energy into movement, with common types being electric motors, hydraulic cylinders, and pneumatic systems.

  • Sensors: Crucial for real-time environmental interaction, allowing robots to adapt their operations effectively.

  • Controllers: These units coordinate movements and process inputs from sensors to execute tasks accurately.

Machine Vision Systems for Robots

These systems integrate camera hardware and image processing software, enabling robots to interpret visual information and make decisions based on their environment. They play a vital role in industrial automation, quality control, and autonomous navigation.

Key Takeaways

A comprehensive understanding of robotics essentials—including definitions, classifications, and components—provides insight into the functionality and diverse applications of robots across various industries. Embracing advancements in AI and automation technologies is crucial for future developments in robotics.