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    Robotics and Automation
    Robotics and Automation
    Robotics and Automation
    Ebook275 pages1 hour

    Robotics and Automation

    By Rahul Basu

    ()

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    About this ebook

    The subject of Robotics is now taught in numerous colleges and schools worldwide.Robots have become a part of everyday culture and vocabulary.
    Robots now exist in almost every home from microwave ovens and washing machines to smart phone enabled homes and devices. It is now popularly ascribed to Tesla cars, although many older cars had robots embedded in them.

    An understanding of the formal basis of the topic is outlined in this book, and is aimed at students in technical courses. Sample problems and exams are included for useful reference.

    LanguageEnglish
    PublisherRahul Basu
    Release dateJun 7, 2021
    ISBN9780463562680
    Robotics and Automation
    Author

    Rahul Basu

    Graduate of Caltech,.UCLA , Mysore University,. Bangalore University., Eurotechnical University.Industry experience at California RTP NC USA., IndiaMerit scholar India,.Caltech(NSF), UCLA. ( Assistantship)Retired from DRDO research, emeritus and visiting professor at several universities..

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      Book preview

      Robotics and Automation - Rahul Basu

      UNIT – II

      Introduction: Automation and Robotics, CAD/CAM and Robotics – An overview of Robotics present and future applications – classification by coordinate system and control system. Components of the Industrial Robotics: Function line diagram representation of robot arms, common types of arms. Components, Architecture, number of degrees of freedom – Requirements and challenges of end effectors, determination of end effectors, comparison of Electric, Hydraulic, and Pneumatic types of locomotion devices.

      UNIT – II

      Motion Analysis: Homogeneous transformations as applicable to rotation and translation – problems.

      Manipulator Kinematics: Specifications of matrices, D-H notation joint coordinates and world coordinates Forward kinematics – problems.

      UNIT – III

      Differential transformation and manipulators: Jacobians – problems.Dynamics: Lagrange – Euler and Newton – Euler formations – Problems.

      Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint integrated motion – straight-line motion – Robot programming, languages, and software packages.

      UNIT – IV

      Robot actuators and Feedback components: Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors. Feedback components: position sensors – potentiometers, resolvers, encoders – Velocity sensors.

      UNIT-V

      Robot Application in Manufacturing: Material Transfer - Material handling, loading, and unloading- `Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.

      TEXT BOOKS:

      Industrial Robotics / Groover M P /Pearson Edu.

      Robotics and Control / Mittal R K & Nagrath I J / TMH.

      Robotic Engineering / Richard D. Klafter, Prentice Hall

      REFERENCE BOOKS:

      Robotics / S.K.Fu / McGraw Hill.

      An Introduction to Robot Technology, / P. Coiffet and M. Chaironze / Kogam Page Ltd. 1983 London.

      Introduction to Robotics / John J Craig / Pearson Edu.

      OUTCOMES:

      After Completion of this course, students will be able to

        Classify robots based on joints and arm configurations.

        Design application-specific End Effectors for robots.

        Compute forward and inverse kinematics of robots and determine trajectory plan.

      CONTENTS

      COURSE COVERAGE UNIT WISE

      UNIT I

      UNIT III

      UNIT-I

      INTRODUCTION

      The field of robotics has its origins in science fiction. The term robot was derived from the English translation of a fantasy play written in Czechoslovakia around 1920. It took another 40 years before the modern technology of industrial robotics began. Today Robots are highly automated mechanical manipulators controlled by computers. We survey some of the science fiction stories about robots, and we trace the historical development of robotics technology. Let us begin our chapter by defining the term robotics and establishing its place with other types of industrial automation.

      Robotics: -

      Robotics is an applied engineering science that has been referred to as a combination of machine tool technology and computer science. It includes machine design, production theory, micro electronics, computer programming & artificial intelligence.

      OR

      Robotics is defined as the science of designing and building Robots that are suitable for real-life application in automated manufacturing and other non-manufacturing environments.

      Industrial robot: -

      The official definition of an industrial robot is provided by the robotics industries association (RIA). An industrial robot is defined as an automatic, freely programmed, servo-controlled, multi-purpose manipulator to handle various operations of an industry with variable programmed motions.

      Automation and robotics:-

      Automation and robotics are two closely related technologies. In an industrial context, we can dean automation as a technology that is concerned with the use of mechanical, electronic, and computer-based systems in the operation and control of production Examples of this technology include transfer lines. Mechanized assembly machines, feedback control systems (applied to industrial processes), numerically controlled machine tools, and robots. Accordingly, robotics is a form of industrial automation.

      Ex:- Robotics, CAD/CAM, FMS, CIMS

      Types of Automation:-

      Automation is categorized into three types. They are,

      1)  Fixed Automation

      2) Programmable Automation

      3) Flexible Automation.

      (1) Fixed Automation:-

      It is the automation in which the sequence of processing or assembly operations to be carried out is fixed by the equipment configuration. In fixed automation, the sequence of operations (which are simple) is integrated into a piece of equipment. Therefore, it is difficult to automate changes in the design of the product. It is used where a high volume of production is required Production rate of fixed automation is high. In this automation, no new products are processed for a given sequence of assembly operations.

      Features:-

      i)  A high volume of production rates,

      ii) Relatively inflexible in product variety (no new products are produced). Ex:- Automobile industries ... etc.

      (2) Programmable Automation:-

      It is the automation in which the equipment

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