CHAPTER 1:

INTRODUCTION TO INDUSTRIAL ROBOTS

AUTOMATION
Learning Outcomes:
Upon completion this chapter, student should be
able:-
1. Define the robots automation
2. State the advantages and disadvantages of robots
automation
3. List six types of robot automation
4. Explain the robots automation in production
system
Contents
1. Introduction of robots automation
2. Advantages and disadvantages of robot automation
3. Types of robots automation
4. Robot automation in production system
Introduction of Robots Automation
 Robot is a machine that can be programmed to
perform a variety of jobs
 Can range from simple machines to highly complex,
computer-controlled devices
 Three Law of robotics:
 A robot may not injure a human being or through
inaction, allow a human being to come harm
 Robot must be obey the orders given it by human beings
except where such order would conflict with the first law
 Robot must protect its own existence as long as such
protection does not conflict with first and second law
 For a machine to qualify as a robot, it usually needs
these 5 parts:
i. Controller
ii. Manipulator
iii. Actuator
iv. End Effectors
v. Sensor
Controller
 Connected to a computer
 Controller function as the brain of the robot
 Controller also allows the robot to be networked to
other systems.
 Robot have controller that are run by programme set of
instruction written in code.
Manipulator
 Robot arm come in all shapes and size
 The arm is the part of the robot that positions the end-
effector and sensors
 Many resemble human arm and have shoulder, elbow,
wrist, even fingers
 A simple robot arm with 3 degrees of freedom could
move 3 way; up and down, left and right, forward and
backward.
Actuator
 actuator is a mechanism used to drive the processor to
allow it to move to a predetermined point.
 consists of components such as pneumatic and
hydraulic cylinders, pneumatic and hydraulic rotary
motor, and the electric motor.
 robot position also depends on the combination of
these components.
 The robot has a simple movement is driven by a
mechanical system that uses a cam.
End -Effector
 Connected to the robot arm.
 It could be a tool such as a gripper, a vacuum pump,
hook, scoop and etc.
 Some robots can change end-effectors and be
programmed for a different task.
 If robot has more than one arm, there can be more
than one end-effector on the same robot.
Sensor
 Sensor can provide feedback to the control systems
and give the robots more flexibility
 Sensor such as visual sensor are useful in the building
of more accurate and intelligent robots
 Sensor can be classified as follows:
 Position sensor
 Range sensor
 Velocity sensor
 Proximity sensor
Power Sources For Robots
 There are basically three types of power sources for
robot:
 Hydraulic drive
 Electric drive
 Pneumatic drive
Hydraulic drive
 Provide fast movements
 Preferred for moving heavy part
 Preferred to be used in expressive environments
 Occupy large space area
 There is a danger of oil leak to the shop floor
Electric drive
 Slower movement compare to the hydraulic robots
 Good for small and medium size robots
 Better positioning accuracy and repeatability
 Stepper motor drive: open loop control
 DC motor drive: closed loop control
 Cleaner environment
 The most used type of drive in industry
Pneumatic drive
 Preferred for smaller robots
 Less expensive than electric or hydraulic robots
 Suitable for relatively less degrees of freedom design
 Suitable for simple pick and place application
 Relatively cheaper
The Robot Movements
 The basic movements required for motion of most
industrial robots are:
 Rotational movement – enable robot to place its arm
in any direction on a horizontal plane
 Radial movement – enables robot to move its end-
effector radials to reach distant points
 Vertical movement – enables robot to take its end-
effector to different heights
 The Robot Joints
Prismatic
Joints
•In a prismatic joints, also
known as a sliding or
linear joint (L)
•The link are generally
parallel to one
Revolute
Joints
• In a revolute joints permit
only angular motion
between link
• Their variations include:
• Rotational joint (R)
• Twisting joint (T)
• Revolving joint (V)
Prismatic joint
 A rotational joint is defined by its motion.
 Rotation an axis perpendicular to the adjoining links.
Twisting joint
 A twisting joint is also rotational joint.
 Rotation takes place about an axis that is parallel to
both adjoining links.
Revolving joint
 Another rotational joint.
 The rotation takes place about an axis that is parallel to
one of the adjoining links.
Advantages and disadvantages
Advantages: Disadvantages:
 Robot never get sick or  Not creative or innovative
need rest  Do not think independently
 When the task required  Do not make complicated
would be dangerous for a decisions
person, robot can do the  Do not learn from mistakes
work instead  Do not adapt quickly to
 Robot can work repetitive changes in their
and unrewarding surroundings
Types Of Robots Automation
There are 6 types of robot :
 Cartesian/Gantry Robot
 Cylindrical Robot
 Spherical/Polar Robot
 SCARA Robot
 Articulated Robot
 Parallel Robot
Cartesian Robot
 It used for pick and place work, application of sealant,
assembly operation, handling machine tools and arc
welding
 This arm robot has three prismatic joints, whose axes
are coincident with a Cartesian coordinator
 X =horizontal, left and right motions
 Y = vertical, up and down motions
 Z = horizontal, forward and backward motions
Cylindrical Robot
 It used for assembly operations, handling at machine
tools, spot welding and handling at die-casting
machines
 This robot axes form a cylindrical coordinate system
 X = horizontal rotation of 360°, left and right motions
 Y = vertical, up and down motions
 Z = horizontal, forward and backward motions
Spherical/Polar Robot
 Used for handling at machine tools, spot welding, die-
casting, fettling machines, gas welding and arc
welding.
 Robot axes form a polar coordinate system.
 X = horizontal rotation of 360°, left and right motions
 Y = vertical rotation of 270°, up and down motions
 Z = horizontal, forward and backward motions
SCARA Robot
 SCARA (Selective Compliant Assembly Robot Arm)
 Used for pick and place work, application of sealant,
assembly operations and handling machine tools
 This robot has 2 parallel rotary joints to provide
compliance in a plane
Articulated Robot
 Used for assembly operations, die-casting, fettling
machines, gas welding, arc welding and spray painting
 This robot arm has at least 3 rotary joints
 X = horizontal rotation of 360° left and right motions
 Y = vertical rotation of 270°, up and down motions
 Z = horizontal & vertical rotation of 90° to 180°, forward
and backward motions
Parallel Robot
 This robot is used for mobile platform handling
cockpit flight simulators
 This robot arm has concurrent prismatic or rotary
joints
Application Robot Automation in
production system
 Welding
 Spray painting
 Assembly
 Palletizing and Material Handling
 Semiconductor industry