The document discusses various topics related to industrial robots. It provides classifications of robots, their applications in manufacturing, and how they work. It states that 90% of robots are used for industrial manufacturing tasks like assembly, material handling, welding, and painting. It also explains that robots allow automating dangerous, repetitive, and precise tasks to improve quality and efficiency.

2.  Introduction
 Classification
 Defining Parameter of a Robot
 Application of Robot
 Robots in Manufacturing

3.  90% of all robots used today are found in factories.
These robots are referred to as industrial robots.
Although many types can be found in manufacturing
today the most common are jointed arm robots.
 Ten years ago, 9 out of 10 robots were being bought by
auto companies - now, only 50% of robots made today
are bought by car manufacturers.
 Robots are slowly finding their way into warehouses,
laboratories, research and exploration sites, energy
plants, hospitals, even outer space.

4.  Aerospace
 Automotive manufacturing and supply
 Chemical, rubber and plastics manufacturing
 Electrical and electronics
 Entertainment-movie making
 Food stuff and beverage manufacturing
 Glass, ceramics and mineral production
 Printing
 Wood and furniture manufacturing

5.  Classification by Degrees of Freedom
 Classification by Kinematic Structure
 Classification by Drive Technology
 Classification by Workspace Geometry
 Classification by Motion Characteristics

6.  Number of axes
 Degrees of freedom
 Working envelope
 Kinematics
 Carrying capacity
 Acceleration
 Accuracy
 Repeatability

7.  General purpose autonomous robots
 Industrial Robots
 Dirty ,Dangerous ,dull or inaccessible tasks
 Military Robots
 Mining Robots
 Health Care Robots
 Research Robots

8.  Traditional industrial robot control uses robot arms
and largely pre-computed motions
 Programming using “teach box”
 Repetitive tasks
 High speed
 Few sensing operations
 High precision movements
 Pre-planned trajectories and
task policies
 No interaction with humans

9.  Industrial robot is a
 Programmable
 Multi-functional
 Designed to move materials, parts, tools or special
devices
 Through programmed motions
 To perform many different tasks

10.  Assembling products
 Handling dangerous
materials
 Spraying finishes
 Inspecting parts,
produce, and
livestock
 Cutting and polishing
 Welding

11.  Automation involves a
mechanical device that can
imitate the actions of people
to do the work that people
can’t do or don’t want to do.
 For automation of automobile
industry robots are used.

12.  First industrial robot was developed in the 1950s
 Further advancements enable to utilize robots in
 Variety of types
 Style
 Size
 Their functionalities may include but not
restricted to
 Welding - Drilling
 Painting - Military
applications
 Assembly - Explosive material
removal
 Pick-and-place
 Material handling

13.  A typical robot consists of many different part
connected to each other
 Most robots resembles a human arm
 Its motions are controlled by a computer
program
 Depends on the type of robot, movement
capabilities of them are measured by the term
degrees of freedom

14.  How do robots work: there are 3 power sources
Hydraulic
drive
Joints are actuated by hydraulic drivers
The major disadvantages are:
 Floor is used by the installation of hydraulic system
 Leaks may seen often and cause messy floor
Advantages
 Due to the speed and power, they are used in large industrial robots
 Also desired to use in the environments where electric-driven robots might
cause fire etc.
Electric
Drive
Comparison to Hydraulic systems, less power and slower speed
Most common robot types in the industry
There are two distinct group: Stepper motors and Direct current (DC)
servo-motor driven
Pneumatic
Drive
Usually installed to small robots
Tends to have less degrees of freedom
Operations are simple and less cycle times
Less expensive, Since most of the robot parts are commercially available,
small institution can build their own robots

15.  How do we know the location of robot arms?
 Sensors are used to monitor the motion of robots
 Motion of robots is sustained by the power based on
the given input (computer algorithm)
 Once the order is given, it is important to know the
location of robot’s arm/parts
 Its movements should be controlled during the entire
motion
 Robot should also be capable of sensing their
environments
 Sensors provides feedback to the controller and give
flexibility to robots

16. Type of sensors being used in robotics
1. Position
Sensors
Monitors the location of joints
Coordinate information is feedback to controller
This communication gives the system the capability of location the end-effectors,
which is the part usually performs the tasks.
2. Range
sensors
Measures the distance between a point in the robot and interest point that surrounds
the robots
The task is usually performed by television cameras or sonar transmitter and
receivers
If the sonar or camera misses a point, undesired coincidences may occur
3. Velocity
sensors
Estimates the speed using a moving manipulator
Due the the effects caused by, mechanical force, gravity, weight of load etc, desired
speed and required force to reach the speed should be computed continuously
4. Proximity
sensors
Sense and indication of presence of another object within specified distances
Prevents accidents and locate the existence of work-piece

17.  Robot movements:
 Robots are feasible when they are fast but also the
stability is high
 The trade-off between speed and stability is sustained
by a powerful control system
 Robotics and Control are two joint disciplines

18. Robotic movements and joints
 Robots required to perform
1. Rotational movements
2. Radial movements
3. Vertical movements
 Type of joints
1. Rotational joints
2. Twisting joints
3. Revolving joints
4. Linear joints

19.  Analysis of robot motions:
Forward and Backward Kinematics concepts
 Forward Kinematics: Transformation of coordinate
of the end-effectors point from the joint space to the
world space
 Position of end-effectors is computed based on the
joints locations
 Backward Kinematics: Transformation of
coordinates from world space to joint space
 In this concept the position of end-effectors is known
in world coordinate system
 Required motion is computed based on this
information

21. LL Robot: Base is static,
arms are linear joints
RRR Robot: Base is
static, arms are rotational
joints
TL Robot: Base is
rotational and the arm is
linear joint
(x1, y1) (x2, y2)
(x, y)
L2
L1
L3
(x, y)
(x, y)

22.  Essentials of robot programming
 Requires
 The path robot should follow
 The points it should reach
 Details about how to interpret the sensor data
 How and when the end-effectors should be activated
 How to move parts between given locations

23.  Essentials of robot programming
 Programming techniques
 Teach-by showing:
 Robot can repeat the motion already been done by the
programmer
 Textual language programming
 A computer programming is written using logical
statements
 Some of the languages are:
 Wave, VAL, AML, RAIL, MCL, TL-10, IRL, PLAW,
SINGLA and ACL

24.  The 2013 Escape is their first US-manufactured
car to benefit from the seeing-eye robots. Ford
had already been using the robots at their
manufacturing plants in Europe but only
recently installed 700 of them at their
Louisville, Kentucky plant. The robots raise the
quality of assembly to “custom-like build,”.

25.  The master welders are actually a team of two types of robot, the
IRB 6640 and IRB 7600, made by Swedish-Swiss robotics
giant ABB Robotics. The IRB 7600 acts as the 6640’s assistant,
holding panels and other equipment in place while IRB 6640
welds the parts together. The IRB 6640 is packing servo-driven
welding guns which are 25 present faster than traditional,
pneumatic welding guns. What’s more, the robots are flexible
enough to weld different car models.

26. 1. Robotic Handling Operation 38%
2. Robotic Handling 29%
3. Robotic Assembly 10%
4. Robotic Dispensing 4%
5. Robotic Processing 2%

27. Material handling is the most popular application with
38% of operational stock of industrial robots worldwide.
This includes robotic machine tending, palatalizing and
various operations for metal machining and plastic
moulding. With the introduction of collaborative robots in
the last few years, this part of the market is always
increasing.

28.  This segment mostly includes spot welding and
arc welding which is mainly used by the
automotive industry. Spot welding is still more po
pular than robotic arc welding but not for long;
as arc welding is becoming very popular in the me
tal industry. More small work shop are
beginning to introduce welding robot into their pr
oduction. In fact, with the price of robot going
down and the various tool now available on the m
arket, it is now easier to automate a welding
process.

29. Assembly operations include: fixing, press
fitting, inserting, disassembling, etc. This category
of
robotic applications seems to have decreased over
the last few years, even while other robotic
applications have increased. The reason why the a
pplications are diversified is because of the
introduction of different technologies such as force
torque sensors and tactile sensors that
gives more sensations to the robot.

30.  Here we are talking about painting, gluing,
applying adhesive sealing, spraying, etc. Only
4% operational robots are doing dispensing. T
he smoothness of robot makes a repeatable an
d accurate process.

31.  Processing is not a big segment of
industrial robots (only 2%) and this is
probably because a lot of automated
machines are available on the market
to do specifically these applications
. The main application areas are
mechanical, laser and water jet
cutting