Subject: ROBOTICS ENGINEERING AND APPLICATIONS

Subject Code: ME 0002

Department of Mechanical Engineering
Year & Semester: III YEAR I SEMESTER
Note : Consider this PPT as reference only
Subject: ROBOTICS ENGINEERING AND APPLICATIONS
Subject Code: ME 0002
Department of Mechanical Engineering
Year & Semester: III YEAR I SEMESTER
Note : Consider this PPT as reference only
I. INTRODUCTION
Basic concepts of robotics (Laws of Robotics, Robotic system), RIA Definition.
History of Robotics, Automation and robotics
Robot anatomy (Robot Configuration, Robot motions, Joint Notation scheme)
Robot Manipulators Kinematics.
Kinematics: Forward and inverse kinematics, Problems on kinematics
Precision movement (Spatial resolution, accuracy, repeatability)
Robot specifications and Work volume,
Types of Robot drives, Electric drives, Hydraulic, Pneumatic drives.
Basic robot motions - Point to point control, continuous path control.
2. END EFFECTORS
End effectors Introduction Classification.
Classification
Mechanical Grippers,
Magnetic Grippers,
Vacuum Grippers and
Adhesive Gripper
Gripper force analysis and design.
Problems on gripper design and force calculation.
Robot control - unit control system concept.
Servo and non-servo control of robot joints
Adaptive and optimal control.
.
I. INTRODUCTION
Basic concepts of robotics (Laws of Robotics, Robotic system), RIA Definition.
History of Robotics, Automation and robotics
Robot anatomy (Robot Configuration, Robot motions, Joint Notation scheme)
Robot Manipulators Kinematics.
Kinematics: Forward and inverse kinematics, Problems on kinematics
Precision movement (Spatial resolution, accuracy, repeatability)
Robot specifications and Work volume,
Types of Robot drives, Electric drives, Hydraulic, Pneumatic drives.
Basic robot motions - Point to point control, continuous path control.
2. END EFFECTORS
End effectors Introduction Classification.
Classification
Mechanical Grippers,
Magnetic Grippers,
Vacuum Grippers and
Adhesive Gripper
Gripper force analysis and design.
Problems on gripper design and force calculation.
Robot control - unit control system concept.
Servo and non-servo control of robot joints
Adaptive and optimal control.
.
Out line of the end effector
1. Introduction of End effectors
a. Grippers
b. Tools
2. Mechanical Grippers
3. Type of Gripper Mechanism
Linkage actuation
Gear and rack actuation
Cam actuation
Screw actuation
Rope and pulley actuation
Miscellaneous.
4. Other Grippers
1.Vacuum cups( Suction cups)
2.Magnetic grippers
a. Electromagnet grippers
b. Permanent magnetic grippers
3.Adhesive grippers
4.Hooks scoops and other miscellaneous devices
5.Factors to be considered while selecting the end effector
6.Difference Grippers and Tools
7.Case Study 1: Design and development of Robotic Hand
Out line of the end effector
1. Introduction of End effectors
a. Grippers
b. Tools
2. Mechanical Grippers
3. Type of Gripper Mechanism
Linkage actuation
Gear and rack actuation
Cam actuation
Screw actuation
Rope and pulley actuation
Miscellaneous.
4. Other Grippers
1.Vacuum cups( Suction cups)
2.Magnetic grippers
a. Electromagnet grippers
b. Permanent magnetic grippers
3.Adhesive grippers
4.Hooks scoops and other miscellaneous devices
5.Factors to be considered while selecting the end effector
6.Difference Grippers and Tools
7.Case Study 1: Design and development of Robotic Hand
An end effector is a device that attached to the wrist of the robot arm and enables
the general purpose robot to perform a specific task.
> It is some times referred as the robots hand.
> The end effector is a part of that special purpose tooling for a robot.
> It is the gripper or end-of-arm tooling mounted on the wrist.
Usually end effectors must be custom engineered for the particular task which is to
be performed. This can be accomplished either by designing and fabricating the device
from scratch or by purchasing a commercially available device and adapting it to the
application.
> Most of robot manufacturers have special engineering groups whose function is to
design end effector and provide consultation services to their customers.
> Cost of end-of-arm tooling can account for 20% of the total cost of the robot
Two Functions:
1. Hold the part while work is being performed
2. Hold tool which is performing work on the part.
Two types of end effectors:
1. Grippers To grasp and manipulate objects (e.g., parts) during work cycle
2. Tools To perform a process, e.g., spot welding, spray painting
INTRODUCTION
An end effector is a device that attached to the wrist of the robot arm and enables
the general purpose robot to perform a specific task.
> It is some times referred as the robots hand.
> The end effector is a part of that special purpose tooling for a robot.
> It is the gripper or end-of-arm tooling mounted on the wrist.
Usually end effectors must be custom engineered for the particular task which is to
be performed. This can be accomplished either by designing and fabricating the device
from scratch or by purchasing a commercially available device and adapting it to the
application.
> Most of robot manufacturers have special engineering groups whose function is to
design end effector and provide consultation services to their customers.
> Cost of end-of-arm tooling can account for 20% of the total cost of the robot
Two Functions:
1. Hold the part while work is being performed
2. Hold tool which is performing work on the part.
Two types of end effectors:
1. Grippers To grasp and manipulate objects (e.g., parts) during work cycle
2. Tools To perform a process, e.g., spot welding, spray painting
Shaft
For Small diameters Fitted to the diameter Fitted to the length
Flat
Fig: Robot End effector for different manufacturing applications
Magnet lifter Vacuum Double Gripper Vacuum Gripper
For Large Objects Vacuum gripper for Parts
Box
Contour Surface Box
Vacuum Gripper
corrugated surface
Vacuum Gripper
Curved surface
Balloon lifter, Bottles
Fig: Robot End effector for different manufacturing applications
Grippers are end effectors used to grasp and hold objects. The objects are
generally work part that are to moved by the robot.
Ex: Part handling applications
According to mechanical grasping grippers can be classified as
1. Single grippers
- Only one grasping device is mounted.
- Consumes valuable time in production cycle
2. Double grippers
+ It has two gripping devices attached to the wrist.
+ It is used to handle two separate object.
+ These gripping devices actuated independently
+ these are subset of multiple grippers.
ex: Machining loading and unloading.
According to whether the part is grasped on its exterior surface or its internal surface
1. External surface
2. Internal surface
1. Grippers
Grippers are end effectors used to grasp and hold objects. The objects are
generally work part that are to moved by the robot.
Ex: Part handling applications
According to mechanical grasping grippers can be classified as
1. Single grippers
- Only one grasping device is mounted.
- Consumes valuable time in production cycle
2. Double grippers
+ It has two gripping devices attached to the wrist.
+ It is used to handle two separate object.
+ These gripping devices actuated independently
+ these are subset of multiple grippers.
ex: Machining loading and unloading.
According to whether the part is grasped on its exterior surface or its internal surface
1. External surface
2. Internal surface
Fig: Single grippers
Fig: Double grippers
Multiple end effector (Angular Robot Gripper)
Special Purpose Gripper :Palletizing
Fig: Multiple gripper
Fig: Internal & External grippers
(a) Internal gripper
(b) External gripper
2. Tools
These are designed to perform work on the part rather than to merely grasp it.
By the definition the tool type end effector is attached to the robots wrist end.
ex: Spot welding, Spray painting, etc
The grippers are sometimes used to hold tools rather than work part.
The reason for using a gripper instead of attaching the tool directly the robot wrist is typically
because the job requires several tools to be manipulated by the robot during the work cycle.
ex: Deburring process
2. Tools
These are designed to perform work on the part rather than to merely grasp it.
By the definition the tool type end effector is attached to the robots wrist end.
ex: Spot welding, Spray painting, etc
The grippers are sometimes used to hold tools rather than work part.
The reason for using a gripper instead of attaching the tool directly the robot wrist is typically
because the job requires several tools to be manipulated by the robot during the work cycle.
ex: Deburring process
Fig: Tool gripper as a machine cutter
Advantage Robot Tooling
Consistency
Repeatability
No fatigue
Shorter cycle time
Fewer scrapped parts
Fewer injuries
Fig: Robot end effector as tool in Spot welding (automobile) application
Fig: Robot end effector as tool in GMAW welding (automobile, construction) application
Fig: Robot end effector as tool in Spray painting application
Deburring Process:
It is usually an unwanted piece of material and when removed with a deburring
tool in a process called 'deburring'.
. Burrs are most commonly created after machining operations, such as grinding,
drilling, milling, engraving or turning.
Fig: The tools used in Deburring process
Mechanical grippers
A mechanical gripper is an end effector that uses mechanical fingers actuated by a
mechanism to grasp an object.
The fingers, some times called jaws, are the appendages of the gripper that actually
make contact with the object.
The grippers are either attached to the mechanism or are an integral part of the
mechanism.
The fingers are attachable type, then they can be detached and replaced. The use of
replaceable allows wear and interchangeability.
The function of the gripper mechanism is to translate same of power input into the
grasping action of the fingers against the part.
The power input is supplied from, the robot and can be pneumatic, electric,
mechanical or hydraulic.
The mechanism must be able to open and close the fingers and exert sufficient force
against the part when closed to hold it securely.
There are two ways of constraining the part in the gripper .
1. By physical constriction of the part with in the fingers.
2. Holding the part is by friction between the fingers and the work part.
A mechanical gripper is an end effector that uses mechanical fingers actuated by a
mechanism to grasp an object.
The fingers, some times called jaws, are the appendages of the gripper that actually
make contact with the object.
The grippers are either attached to the mechanism or are an integral part of the
mechanism.
The fingers are attachable type, then they can be detached and replaced. The use of
replaceable allows wear and interchangeability.
The function of the gripper mechanism is to translate same of power input into the
grasping action of the fingers against the part.
The power input is supplied from, the robot and can be pneumatic, electric,
mechanical or hydraulic.
The mechanism must be able to open and close the fingers and exert sufficient force
against the part when closed to hold it securely.
There are two ways of constraining the part in the gripper .
1. By physical constriction of the part with in the fingers.
2. Holding the part is by friction between the fingers and the work part.
2. Holding the part is by friction between the fingers and the work part.
With this approach, the fingers must apply a force that is sufficient for friction to
retain the part against gravity, acceleration, and any other force that might rise during the
holding portion of the work cycle.
The fingers, or the pads attached to the fingers which makes contact with the part, are
generally fabricated out of a material that is relatively soft.
This tends to increase the coefficient of friction between the part and the contact
fingers surface. It also serves to protect the part surface from scratching or the damage.
The friction method of holding the part results in a less complicated and therefore
less expensive gripper design, and it tends to be reality adaptable to a greater variety of work
part.
How ever there is problem with the friction method that is avoided with the physical
constriction method.
If a force of sufficient magnitude is applied against the part in a directional parallel to
the friction surfaces of the fingers as a shown in below figure (a) the part might slip out of the
gripper.
To resist slippage the gripper must be designed to exert a force that depends on the
weight of the part, the coefficient of friction between the part surface and finger surface, the
acceleration ( or deacceleration) of the part, and the orientation between the direction of motion
during acceleration and direction of the fingers.
2. Holding the part is by friction between the fingers and the work part.
With this approach, the fingers must apply a force that is sufficient for friction to
retain the part against gravity, acceleration, and any other force that might rise during the
holding portion of the work cycle.
The fingers, or the pads attached to the fingers which makes contact with the part, are
generally fabricated out of a material that is relatively soft.
This tends to increase the coefficient of friction between the part and the contact
fingers surface. It also serves to protect the part surface from scratching or the damage.
The friction method of holding the part results in a less complicated and therefore
less expensive gripper design, and it tends to be reality adaptable to a greater variety of work
part.
How ever there is problem with the friction method that is avoided with the physical
constriction method.
If a force of sufficient magnitude is applied against the part in a directional parallel to
the friction surfaces of the fingers as a shown in below figure (a) the part might slip out of the
gripper.
To resist slippage the gripper must be designed to exert a force that depends on the
weight of the part, the coefficient of friction between the part surface and finger surface, the
acceleration ( or deacceleration) of the part, and the orientation between the direction of motion
during acceleration and direction of the fingers.
Fig: Mechanical gripper with interchangeable fingers/ physical constriction of the part
Type of Gripper Mechanism
There are various ways of classifying mechanical grippers and their actuating mechanism.
The grippers can actuate the opening and closing of the finger by one of the following :
1. Pivot movement ( to open and close)
The motion is usually accomplished by some kind of linkage mechanism.
2. Linear or translational movement
In the linear movement, the finger open and close by moving in parallel to
each other. This is accomplished by means of guide rails so that each finger base slides
along a guide rail during actuation.
This movement also accomplished by linkage mechanism.
Mechanical grippers can also be according to the type of mechanical device
used to actuate the finger movement. In thins classification we have the following type:
1. Linkage actuation
2. Gear and rack actuation
3. Cam actuation
4. Screw actuation
5. Rope and pulley actuation
6. Miscellaneous.
There are various ways of classifying mechanical grippers and their actuating mechanism.
The grippers can actuate the opening and closing of the finger by one of the following :
1. Pivot movement ( to open and close)
The motion is usually accomplished by some kind of linkage mechanism.
2. Linear or translational movement
In the linear movement, the finger open and close by moving in parallel to
each other. This is accomplished by means of guide rails so that each finger base slides
along a guide rail during actuation.
This movement also accomplished by linkage mechanism.
Mechanical grippers can also be according to the type of mechanical device
used to actuate the finger movement. In thins classification we have the following type:
1. Linkage actuation
2. Gear and rack actuation
3. Cam actuation
4. Screw actuation
5. Rope and pulley actuation
6. Miscellaneous.
Mechanical Finger Grippers
Linkage Grippers:
There is no cam, screw, gear.
There is movement only because of links attached to input and output.
There must be perfect design of mechanism such that input actuators motion is
transformed into the gripping action at the output.
Fig :Linkage Grippers
Gear and Rack Grippers:
Movement of input due to gear motion which makes connecting links to go in motion
to make gripping action at the output link.
Fig: Gear and Rack Grippers
Cam-actuated Grippers:
Reciprocating motion of the cam imparts motion to the follower, thus causing
fingers to produce a grabbing action.
A variety of cam profiles can be employed- constant velocity, circular arcs, harmonic
curves etc.
Fig :Cam-actuated Grippers
Screw-driven Grippers:
Operated by turning screw, in turn giving motion to connecting links and thus giving
griping motion to output.
Screw motion can be controlled by motor attached.
Screw connected Motor
Fig : Screw-driven Grippers
Rope & Pulley Grippers:
Motor attached to the pulley makes the winding and unwinding motion of
rope in turn it set gripper action into motion via connecting link.
Fig : Rope & Pulley Grippers
Pulley
Rope
Soft Grippers:
Consists of multi-links and a series of pulleys actuated by a pair of wires.
The soft gripper can actively conform to the periphery of objects of any shape and
hold them with uniform pressure.
Multi Links
Fig: Soft Grippers
Three Fingered Grippers:
The clamping movement of two-fingered type normally executes
(a)beat movement
(b)bite movement
(c)parallel movement of the jaw.
They are capable only of grasping or releasing movement.
Fig : Three Fingered Grippers
Other types of grippers
In addition to mechanical gripper there are a variety of other devices that can be
designed to lift and hold objects.
Includes among these other types of grippers are the following types.
1.Vacuum cups( Suction cups)
2.Magnetic grippers
3.Adhesive grippers
4.Hooks scoops and other miscellaneous devices
Vacuum cup grippers:
For non-ferrous components with flat and smooth surfaces, grippers can be built using
standard vacuum cups or pads made of rubber-like materials.
Initial costs are low
Not suitable for components with curved surfaces or with holes.
Fig: Vacuum Gripper (a) Ventury device for flat surface gripping
(b) gripper for contoured surface
The suction cups used in this type of robot grippers are typically made of elastic
material such as rubber or soft plastic.
An exception would be when the object to be handled is composed of a soft
material. In this case, the suction cup would be made of a hard substance.
The vacuum pump is piston operated or vane driven device powered by an
electric motor. It is capable of creating a relatively high vacuum.
The venture is a simpler device as pictured in above fig and it can be driven by
means of shop air pressure. Its initial cost is less than that of a vacuum pump and its
relatively reliable because of its simplicity.
However the overall reliability of the vacuum system is dependent on the source
of air pressure.
The lift capacity of the suction cup depends on the effective area of the cup and
the negative air pressure between the cup and the object.
The relation can be summarized in the following equation.
F= PA
Where,
F= the force or lift capacity , lb
P=the negative pressure , lb/in2
A= the total effective area of the suction cup(s) used to create the vacuum.
The suction cups used in this type of robot grippers are typically made of elastic
material such as rubber or soft plastic.
An exception would be when the object to be handled is composed of a soft
material. In this case, the suction cup would be made of a hard substance.
The vacuum pump is piston operated or vane driven device powered by an
electric motor. It is capable of creating a relatively high vacuum.
The venture is a simpler device as pictured in above fig and it can be driven by
means of shop air pressure. Its initial cost is less than that of a vacuum pump and its
relatively reliable because of its simplicity.
However the overall reliability of the vacuum system is dependent on the source
of air pressure.
The lift capacity of the suction cup depends on the effective area of the cup and
the negative air pressure between the cup and the object.
The relation can be summarized in the following equation.
F= PA
Where,
F= the force or lift capacity , lb
P=the negative pressure , lb/in2
A= the total effective area of the suction cup(s) used to create the vacuum.
Fig: Vacuum Cups grippers
Fig: Vacuum Cups grippers with material handling application Fig: Vacuum Cups grippers with material handling application
Fig: Use of Vacuum grippers in packing applications
Magnetic Gripper:
Used to grip ferrous materials (sheet or plate form).
The S.S would not be an appropriate application for magnetic gripper because 18-8 steel
is not attracted by a magnet.
Magnetic gripper uses a magnetic head to attract ferrous materials like steel plates.
The magnetic head is simply constructed with a ferromagnetic core and conducting coils.
Fig: Magnetic Gripper with application
Magnetic Gripers can be divided into two categories
1. Electromagnet grippers
These are easier to control but requires source of dc power and an appropriate
controller unit.
As with any other robotic gripping device, the pan must be released at the end of the
handling cycle. This is easier to accomplish with an electromagnet than with a permanent
magnet.
When the part is to be released, the controller unit reverses the polarity at a reduced
power level before switching off the electromagnet. This procedure acts to cancel the residual
magnetism in the workpiece and ensure a positive release of the part.
2. Permanent magnetic grippers
These do not require an external power source to operate the magnet.
Stripper device is used to detach the part at the end off cycle.
These are often considered for handling tasks in hazardous environments requiring
explosion proof apparatus.
Magnetic Gripers can be divided into two categories
1. Electromagnet grippers
These are easier to control but requires source of dc power and an appropriate
controller unit.
As with any other robotic gripping device, the pan must be released at the end of the
handling cycle. This is easier to accomplish with an electromagnet than with a permanent
magnet.
When the part is to be released, the controller unit reverses the polarity at a reduced
power level before switching off the electromagnet. This procedure acts to cancel the residual
magnetism in the workpiece and ensure a positive release of the part.
2. Permanent magnetic grippers
These do not require an external power source to operate the magnet.
Stripper device is used to detach the part at the end off cycle.
These are often considered for handling tasks in hazardous environments requiring
explosion proof apparatus.
Continue. Magnetic Grippers
Advantages:
Pick up time are very fast
Variation in part size can be tolerated.
The gripper does not have to be designed for one particular work part.
They have the ability to handle metal parts with holes.
They require only one of surface for gripping.
Decreased air cost
Grasps odd or non-uniform parts
Outlasts most vacuum parts
Wont drop materials during power outage or air loss
Low maintenance cost
Disadvantages
These includes the residual magnetism remaining in the workpiece. Which
may cause a problem in subsequent handling, possible side slippage and other
errors which limit the precision of this mean of handling.
Problem of picking only one sheet from a stack.
The magnetic attraction tends to penetrate beyond the top sheet in the
stack, resulting the possibility that more than a single sheet will be lifted by the
magnet.
Advantages:
Pick up time are very fast
Variation in part size can be tolerated.
The gripper does not have to be designed for one particular work part.
They have the ability to handle metal parts with holes.
They require only one of surface for gripping.
Decreased air cost
Grasps odd or non-uniform parts
Outlasts most vacuum parts
Wont drop materials during power outage or air loss
Low maintenance cost
Disadvantages
These includes the residual magnetism remaining in the workpiece. Which
may cause a problem in subsequent handling, possible side slippage and other
errors which limit the precision of this mean of handling.
Problem of picking only one sheet from a stack.
The magnetic attraction tends to penetrate beyond the top sheet in the
stack, resulting the possibility that more than a single sheet will be lifted by the
magnet.
Adhesive Gripper
Gripper design in which an adhesive substance performs the grasping action can be
used to handle fabrics and other light weight materials.
The requirements on the items to be handled are that they must be gripped on one
side only and that other forms of grasping such as a vacuum or magnet are not appropriate.
Miscellaneous Grippers
Hooks can be used as end effectors to handle containers of parts and to load and
unload parts hanging from overhead conveyor.
Scoops and Ladles can be used to handle certain materials in liquid or powder
form ( chemical industries).
ex: chemical sin liquid or powder form, food materials, granular
substances, and molten metals etc.
Inflatable devices in which an inflatable bladder or diaphragm is expanded to
grasp the object.
The inflatable bladder is fabricated out of rubber or other elastic material which
makes it appropriate for gripping fragile objects. The gripper applies a uniform grasping
pressure against the surface of the object rather than a concentrated force typical of a
mechanical gripper.
Inflatable grippers- used for picking up irregular and fragile objects without
concentrated loading.
Universal Gripper capable of grasping and handling a variety of objects with differing
geometries.
Miscellaneous Grippers
Hooks can be used as end effectors to handle containers of parts and to load and
unload parts hanging from overhead conveyor.
Scoops and Ladles can be used to handle certain materials in liquid or powder
form ( chemical industries).
ex: chemical sin liquid or powder form, food materials, granular
substances, and molten metals etc.
Inflatable devices in which an inflatable bladder or diaphragm is expanded to
grasp the object.
The inflatable bladder is fabricated out of rubber or other elastic material which
makes it appropriate for gripping fragile objects. The gripper applies a uniform grasping
pressure against the surface of the object rather than a concentrated force typical of a
mechanical gripper.
Inflatable grippers- used for picking up irregular and fragile objects without
concentrated loading.
Universal Gripper capable of grasping and handling a variety of objects with differing
geometries.
Scoop gripper Inflatable gripper
Fig: Miscellaneous Grippers
Inflatable gripper
Fig: Expandable bladder used to grasp inside of a bottle
Quattro robot in Food Packing applications
Factors to be considered while selecting the end effector
Application
Effector properties
Width of stroke
Weight
Melting temperature
Gripping force
Interfacing with robot
Sensors required
Quality standards
ISO-14001 Environmental Management System Standard
Underwriters Laboratory (UL)
National Electric Manufacturers Association (NEMA)
Frequency of part replacement
Application
Effector properties
Width of stroke
Weight
Melting temperature
Gripping force
Interfacing with robot
Sensors required
Quality standards
ISO-14001 Environmental Management System Standard
Underwriters Laboratory (UL)
National Electric Manufacturers Association (NEMA)
Frequency of part replacement
Difference Grippers and Tools
Type of Control System
Robots may use one of two control systems
1. Non-servo control systems
2. Servo control systems
The earliest type of robot was non-servo, which is considered a non-intelligent robot.
The second classification is the servo robot.These robots are classified as either intelligent or highly
intelligent.
The primary difference between an intelligent and highly intelligent robot is the level of
awareness of its environment.
Non-Servo Robots
Non-servo robots are the simplest robots and are often referred to as limited
sequence, pick-and-place, or fixed-stop robots.
The non-servo robot is an open-loop system.
In an open-loop system, no feedback mechanism is used to compare programmed positions to
actual positions.
A good example of an open-loop system is the operating cycle of a washing Machine.
Type of Control System
Robots may use one of two control systems
1. Non-servo control systems
2. Servo control systems
The earliest type of robot was non-servo, which is considered a non-intelligent robot.
The second classification is the servo robot.These robots are classified as either intelligent or highly
intelligent.
The primary difference between an intelligent and highly intelligent robot is the level of
awareness of its environment.
Non-Servo Robots
Non-servo robots are the simplest robots and are often referred to as limited
sequence, pick-and-place, or fixed-stop robots.
The non-servo robot is an open-loop system.
In an open-loop system, no feedback mechanism is used to compare programmed positions to
actual positions.
A good example of an open-loop system is the operating cycle of a washing Machine.
Example:
Fig: Non-servo controlled Robots
Characteristics of non-servo robots:
Relatively inexpensive compared to servo robots.
Simple to understand and operate.
Precise and reliable.
Simple to maintain.
Capable of fairly high speeds of operation.
Small in size.
Limited to relatively simple programs.
Servo robot
The servo robot is a closed-loop system because it allows for feedback.
In a closed-loop system, the feedback signal sent to the servo amplifier affects the output
of the system.
A servo amplifier translates signals from the controller into motor voltage and current
signals. Servo amplifiers are used in motion control systems where precise control of
position or velocity is necessary. In a sense, a servomechanism is a type of control system
that detects and corrects for errors.
Characteristics of servo robots:
Relatively expensive to purchase, operate, and maintain.
Use a sophisticated, closed-loop controller.
Wide range of capabilities.
Can transfer objects from one point to another, as well as along a
controlled, continuous path.
Respond to very sophisticated programming.
Use a manipulator arm that can be programmed to avoid obstructions
Servo robot
The servo robot is a closed-loop system because it allows for feedback.
In a closed-loop system, the feedback signal sent to the servo amplifier affects the output
of the system.
A servo amplifier translates signals from the controller into motor voltage and current
signals. Servo amplifiers are used in motion control systems where precise control of
position or velocity is necessary. In a sense, a servomechanism is a type of control system
that detects and corrects for errors.
Characteristics of servo robots:
Relatively expensive to purchase, operate, and maintain.
Use a sophisticated, closed-loop controller.
Wide range of capabilities.
Can transfer objects from one point to another, as well as along a
controlled, continuous path.
Respond to very sophisticated programming.
Use a manipulator arm that can be programmed to avoid obstructions
Fig: Servo controlled robots
Case Study 1:
Design and development of Robotic End effector (Gripper)
Fig : The gripper dealing with 2 different objects.
Fig: Kinematic structure (a)and mechanical design(b)of Marviss
Fig: First proto type of the new hand.
Fig: Sketch of a robotic finger based on compliant
mechanisms(a)and its actual implementation.