Robot, Manipulator, construction. parts, joints, principle, working

1. 2. ROBOT MANIPULATOR
D E S I G N A N D A P P L I C AT I O N S O F I N D U S T R I A L R O B OT S
S A B A R I G I R I VA S A N . R
I S B N 978-81-908268-0-8
2. ROBOT MANIPULATOR
D E S I G N A N D A P P L I C AT I O N S O F I N D U S T R I A L R O B OT S
S A B A R I G I R I VA S A N . R
I S B N 978-81-908268-0-8

2. Robot Manipulator
1. Manipulator is also known as robotic arm.
2. The arm is made up of a finite number of
individual rigid segments.
3. Each rigid segment is called as a Link.
4. Links are connected to each other by joints.
5. Links move with respect to its joint.
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3. Robotic ArmRobotic Arm
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Base
Waist
Motor
Power cable
Lower arm
Joint
Link
Upper arm
Wrist
Gripper mounting flange
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4. Types of Joints
Joints are of two types
1. Linear joint – links move in linear fashion
with respect to its joint when actuated.
2. Rotary joint – links move in rotary fashion
with respect to its joint when actuated.
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5. Types of JointsTypes of Joints
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Link – 1 Link – 1
Link
Joint
Joint
Link
(a) Rotary joint (b) Linear joint
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6. Types of Joints
Animation
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7. Types of Joints
Animation
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8. Degrees of Freedom
1. Degrees of freedom (DOF) is defined as the
ability of a joint to produce linear or rotary
movement when actuated.
2. Number of DOF for a robot is equal to the
number of joint axes in the robotic arm.
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9. Lower Pair Joints
1. A lower pair joint is the joint in which two
contacting surfaces can slide over with one
another in rotary or linear manner.
2. They are of six types
a) Revolute joint – 1 DOF
b) Prismatic joint – 1 DOF
c) Screw joint – 1 DOF
d) Cylindrical joint – 2 DOF
e) Planar joint – 3 DOF
f) Spherical joint – 3 DOF
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10. Lower Pair JointsLower Pair Joints
(a) Revolute joint
(b) Prismatic joint
(c) Screw joint
(d) Cylindrical joint
(a) (b)
(c) (d)
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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11. Lower Pair JointsLower Pair Joints
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
S A B A R I G I R I V A S A N . R
(e) Planar joint
(f) Spherical joint
(e) (f)
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12. Link Parameters
1. Link length – 𝑎
2. Twist angle – 𝛼
3. Joint angle – 𝜃
4. Link offset – 𝑑
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13. Wrist Motion
1. Yaw – Rotary motion executed about 𝑧
axis. Causes movement in left and right
directions.
2. Pitch – Rotary motion executed about 𝑦
axis. Causes movement in up and down
directions.
3. Roll – Rotary motion executed about 𝑥
axis.
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14. Wrist MotionWrist Motion
Yaw
Pitch
Roll
Robot wrist 𝑧
𝑦
𝑥
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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15. Wrist Motion
Animation
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16. Wrist Motion
Animation
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17. Wrist Motion
Animation
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18. Robot’s Work Volume
1. The three dimensional space around the
robot where it can sweep its wrist end within
the points of maximum and minimum reach
is called as Robot’s work Volume.
2. Maximum Reach is the point where the wrist
end can go as far as possible from its base.
3. Minimum reach is the point where the wrist
end can go as close as possible to its base.
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19. Robot ReachRobot Reach
Work envelope
Robot
Endeffector
Maximum reach
Minimum reach
Robot base
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20. Robot Reach
Animation
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21. Classification of Manipulator
1. Cartesian coordinate robot system
2. Cylindrical robot system
3. Polar robot system
4. Pendulum robot system
5. Articulated or Jointed arm robot system
a) Horizontal axis jointed arm
b) Vertical axis jointed arm
6. Multiple joint robot system
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22. Cartesian Coordinate Robot System
(a)
(c)
(b)
(a) Cartesian coordinate
robot system
(b) Gantry style (area gantry)
(c) Rectangular work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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Cartesian Coordinate Robot System
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23. Cartesian Coordinate Robot System
Animation
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24. Cartesian Coordinate Robot System
Animation
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25. Cylindrical Robot SystemCylindrical Robot System
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
S A B A R I G I R I V A S A N . R
(a) Cylindrical robot system (b) Cylindrical work envelope
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26. Cylindrical Robot System
Animation
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27. Polar Robot SystemPolar Robot System
(a) Polar robot system (b) Spherical work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
S A B A R I G I R I V A S A N . R
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28. Polar Robot System
Animation
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29. Pendulum Robot SystemPendulum Robot System
(a) Pendulum robot system (b) Partially spherical
work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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30. Pendulum Robot System
Animation
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31. Horizontal Axis Jointed ArmHorizontal Axis Jointed Arm
(a) Horizontal axis robot system (b) Spherical work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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32. Horizontal Axis Jointed Arm
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33. Horizontal Axis Jointed Arm
Animation
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34. Vertical Axis Jointed ArmVertical Axis Jointed Arm
(a) Vertical axis robot system (b) Cylindrical work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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35. Vertical Axis Jointed Arm
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36. Vertical Axis Jointed Arm
Animation
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37. Multiple Joint Robot SystemMultiple Joint Robot System
(a) Spine robot system (b) Spherical work envelope
D E S I G N A N D A P P L I C A T I O N S O F I N D U S T R I A L R O B O T S
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38. Multiple Joint Robot System
Animation
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39. Manipulator Kinematics
1. Kinematics deals with the study of motion
without considering the forces acting on the
robot structure.
2. Forward Kinematics
Required position and orientation is determined
from a given set of joint angles.
3. Inverse Kinematics
Joint angles of all joints in the arm are
determined from the given position and
orientation.
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40. Translation
Translation is the linear displacement
made by a point along a straight line about
x, y or z axis.
Rotation
Rotation is the angular displacement
made by a point about x, y or z axis.
Homogeneous Transformation
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41. Animation
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42. Animation
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43. Manipulator Dynamics
1. Dynamics deals with the study of forces
acting on the robot structure while it is in
action.
2. Lagrange – Euler equation is formulated
based on the kinetic and potential energies
of the system.
3. Difference between the kinetic and
potential energies of the system is known as
Lagrangian function.
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44. Disturbances Acting on the Links
1. Action of gravity
2. Centripetal forces
3. Centrifugal forces
4. Coriolis forces
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45. Robot Motion
1. Point to point motion – The path has no
importance.
2. Continuous path motion – The path taken
is very important.
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46. Trajectories
1. Path taken by the robot endeffector within
the work volume is known as trajectory.
2. Trajectory planning.
a) Joint interpolated trajectory planning.
b) Cartesian path trajectory planning.
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47. End of the Presentation
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