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EC6003 ROBOTICS AND AUTOMATION UNIT I – FOUNDATION FOR BEGINNERS
1. Define Automation?
Automation is a technology that is concerned with the use of electronic, mechanical and computer based system in the operation control and production.
The definition of automation is the use of machines and technology to make processes run on their own without manpower.
2. What are the different types of Automation? Automation of production systems can be classified into three basic types: A. Fixed automation (Hard Automation) B. Programmable automation (Soft Automation) C. Flexible automation.
3. Explain the various types of automation? A. Fixed automation (Hard automation): Fixed automation refers to the use of special purpose equipment to automate a fixed sequence of processing or assembly operations. Each of the operation in the sequence is usually simple, involving perhaps a plain linear or rotational motion or an uncomplicated combination of two. It is relatively difficult to accommodate changes in the product design. This is called hard automation.
Advantages:
Low unit cost Automated material handling High production rate.
Disadvantages:
High initial Investment Relatively inflexible in accommodating product changes. B. Programmable automation (Soft automation): In programmable automation, the production equipment is designed with the capability to change the sequence of operations to accommodate different product configurations. The operation sequence is controlled by a program, which is a set of instructions coded. So that they can be read and interpreted by the system. New programs can be prepared and entered into the SANGEETHA.K/ROBOTICS & AUTOMATION Page 1
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equipment to produce new products. Example: Numerical controlled machine tools, industrial robots and programmable logic controller.
Advantages:
Flexible to deal with design variations. Suitable for batch production.
Disadvantages:
High investment in general purpose equipment Lower production rate than fixed automation. C. Flexible Automation: Flexible automation is an extension of programmable automation. A flexible automation system is capable of producing a variety of parts with virtually no time lost for changeovers from one part style to the next. There is no lost production time while reprogramming the system and altering the physical set up.
Advantages:
Continuous production of variable mixtures of product. Flexible to deal with product design variation.
Disadvantages:
Medium production rate High investment. High „unit cost‟ relative to fixed automation. 4. Write the Benefits of industrial automation? (Apr 2014) Improved product quality Improved safety Increased manufacturing flexibility Improved operation reliability Improved decision making
5. Define Robotics? Robotics is the art, knowledge base, and the know-how of designing, applying, and using robots in human endeavors.
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6. Who coined the term robotics? The term robotics was coined in the year 1920 by science fiction writer Isaac Asimov.
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7. Write Asimov’s laws of robotics?(Nov 2013,Apr 2015) Three rules written by science fiction author Isaac Asimov and later expanded upon. These rules are built in to almost all positronic robots appearing in his fiction and cannot be bypassed. The rules are introduced in his 1942 short story Runaround. The Three Laws of Robotics are as follows: I. A robot may not injure a human being or, through inaction, allow a human being to come to harm. II. A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law. III. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. 8. Define a Robot? (Apr/May 2014) Robotics institute of America defines a robot as a “programmable, multifunction manipulator designed to Move materials, parts, tools or special devices through variable programmed motions for the performance of the variety of task”. 9. Why a robot used? a. To reduce production cost Fast Accurate Difficulties in human nature b. To avoid 4-D jobs Dull (repetitive) Dirty Dangerous Difficult
10. What are the Advantages and disadvantages of robot? Advantages: Robots increase productivity, safety, efficiency, quality, and consistency of products. Robots can work in hazardous environments without the need. Robots need no environmental comfort. Robots work continuously without experiencing fatigue of problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots can process multiple stimuli or tasks simultaneously.
Disadvantages:
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Robots replace human workers creating economic problems Robots lack capability to respond in emergencies.
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Robots, although superior in certain senses, have limited capabilities in Degree of freedom,Dexterity, Sensors, Vision system, real time response. Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming. 11. What are the limitations of robot? The limitations of robot are Assembly dexterity does not match that of human beings, particularly where eye-hand coordination required. Payload to robot weight ratio is poor, often less than 5% Robot structural configurations often constrain joint limits and thus the work volume Work volume can be constrained even further when parts of substantial size are picked up when tooling/sensors added to the robot The robot repeatability and/or accuracy can constrain the range of potential application
12. What are the applications of robot?
Machine loading
Pick and place operations
Welding
Painting
Sampling
Assembly operation
Manufacturing
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
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Underwater, space, and remote locations
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13. What are the types of robot? There are 2 types: industrial and non-industrial robots.
Industrial robot: Industrial robot is designed to be a perfect and tireless worker, to help human workers but not to replace them.
It is always to be mixed-up the term automation, remote-controlled, and numerical control.
The Robotics Institute of America (RIA) defines a robot as reprogrammable, multifunctional manipulator designed to move material, parts, and tools or specialized devices through variable programmed motions, for the performance of variety of tasks. They have arms with gripper attached which are like fingers to grip or pick up various objects. These robots can be programmed and computerized. They are used to pick and place. The various types of industrial robots are
Sequence robot Playback robot Intelligent robot Repeating robot
Sequence robots A manipulator which progresses successively through the various stages of an operation according to the predetermined sequence. Playback robots
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The playback robots are capable of performing a task by teaching the positions. These positions are stored in the memory, and done frequently by the robot. It can be divided into two important types, namely: Point to Point control robots Continuous Path control robots Intelligent robot A robot which can determine its own behaviour/conduct through its functions of sense and recognition Repeating robot A manipulator performing an operation repeatedly according to a rememorized work programme
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Non-industrial robot types Military robots Medical robots Domestic or personal robots Educational robots Show or promotional robots Hobbyist robots Space robots Explorer robots Laboratory robots
Military Robots Any machine that can be operated without a person. These encompasses mostly remote-controlled devices.
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Example: remote-control tanks, radio-controlled airplanes, sensor- guided missiles using Global Position System, spy satellites. Although many of these robots are semiautonomous, the trend is toward complete autonomy.
Medical Robots Include all robot like devices that either give medical aid or substitute for or restore functions that a disabled person lacks. Industrial robots are used as lab assistants to handle dangerous fluids, material handling operations in drug tests and drug-discovery research. Bionic arms, hands, legs are just now reaching the useful stage. Artificial hearing and vision are under development. Tele robots for surgical tasks are now beginning to be used in joint replacement. Emerging technologies will enable the development of very tiny robots the size of beetles or even ants that can be fit into blood stream as for monitoring devices.
Domestic or personal robot Personal robot applications enable people to make themselves more productive at home and at work. Many domestic robot available in markets are focusing in task of household chores. Examples: Robot Vacuums, Robot Floor Cleaners, Robot Window Cleaners, Robotic Lawn Mowers, Robot Pet Care and also Companion Robots.
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Educational Robots Devices that can be used to teach the principles of robotics. They have the ability to simulate learned behaviour. According to The NextGen Education Robotics Summit powered by Robotics Trends, forecasts show that robotics
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education will soon become commonplace in pre-college and college classrooms throughout the industrialized world. Example: SCORBOT-ER generation – come with manipulator, controller and power supply.
Show or Promotion Robots Their tasks as company‟s ambassadors – move about in the aisles, mingle with many visitors, and appear to converse with them. Using a discreet radio control system these performers can move the robot around an audience, interacting with everyone on a personal basis. The appearance of these robot will creatively communicate your message be a magnet at your event showcase your product in an unforgettable way
Hobbyist Robots most are mobile and operate by rolling around on wheels propelled by electric motors controlled by microprocessor equipped with speech synthesis and speech recognition systems they have arms which resemble a person in appearance Space robots This type would include robots used on the International Space Station, Canadarm that was used in Shuttles, as well as Mars rovers and other robots used in space. Explorer robots The majority of these robots are completely self-reliant due to their sensory systems, however they may also be controlled by humans giving orders through computer commands. The other types of explorer robots are underground mine exploring robots, seeing and walking undersea robots, and even bomb defusing robots used by police
Laboratory robots Laboratory robotics is the act of using robots in biology or chemistry labs. For example, pharmaceutical companies employ robots to move biological or chemical samples around to synthesize novel chemical entities or to test pharmaceutical value of existing chemical matter.
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14. Discuss the origin of robot. (8) (Dec. 2012) Origin of Robot: – The acclaimed Czech playwright Karel Capek (1890-1938) made the first use of the word „robot‟, from the Czech word for forced labor or serf. The use of the word Robot was introduced into his play R.U.R. (Rossum's Universal Robots) which opened in Prague in January 1921. In R.U.R., Capek poses a paradise, where the machines initially bring so many benefits but in the end bring an equal amount of plight in the form of unemployment and social unrest.
History of Robots: 1921 – Premier of Karel Capek‟s play R.U.R. 1942 – Asimov coins the word „robotics‟ and gives his three laws of robotics. 1946 – George Devol developed a playback device. Eckert and Muachley – built the ENIAC, the first electronic computer, developed at the University of Pennsylvania. 1947 – First electric powered tele-operated robot at MIT. 1948 – Book on feedback control, Cybernetics, written by Prof. Norbert Weiner of MIT. 1952 –first NC machine was built at MIT. 1954 – First programmable robot patented and designed by Devol. 1955 – Paper by J. Denavit and R. S. Hartenberg (1955) provides a convention to describe links and joints in a manipulator- developed homogenous transformation matrices. 1959 – Unimation Inc. founded by Engelberger; CNC lathe demonstrated at MIT. The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). 1961 – General Motors buys and installs the first Unimate at a plant in New Jersey to tend a die casting machine.
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1968 – Shakey, first mobile robot with vision capability, is made at Stanford Research Institute International. It contained a television camera, range finder, on-board logic, bump sensors, camera control unit, and an antenna for a radio link. Shakey was controlled by a computer in a different room 1970 – The Stanford Arm designed with electrical actuators and controlled by a computer. 1973 – Cincinnati Milacron‟s introduced T3 model robot electrically actuated, mini-computer controlled industrial robot.
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1978 – The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support 1981 – Robot Manipulators by R. Paul, one of the first textbooks on robotics. 1982 – First educational robots by Microbot and Rhino. 1983 – Adept Technology, maker of SCARA(Selective compliance assembly robot arm) robot was invented. 1995 – Intuitive Surgical formed to design and market surgical robots. 1997 – Sojourner robot sends back pictures of Mars; the Honda P3 humanoid robot, started in 1986, unveiled. 2000 – Honda demonstrates Asimo humanoid robot capable of walking. 2001 – Sony releases second generation Aibo robot dog. 2004 – Spirit and Opportunity explore Mars surface and detect evidence of past existence of water. 2007 – Humanoid robot Aiko capable of “feeling” pain. 2009 – Micro-robots and emerging field of nano-robots marrying biology with engineering.
15. Explain how the robots are classified? The robots are classified based on configuration, robot control, drive, movement, application, degrees of freedom and sensory system. Physical configuration a. Cartesian co-ordinate configuration b. Cylindrical c. Polar
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d. Jointed arm configuration e. SCARA Robot Control a. Point-to-point (PTP) control robot b. Continuous-path (CP) control robot c. Controlled-path robot d. Stop- to-Stop Movement a. Fixed robot b. Mobile robot c. Walking or legged robot Drives a. Pneumatic drive b. Hydraulic drive c. Electric drive Applications a. Manufacturi ng b. Handling c. Testing Degrees of freedom a. Single degree of freedom b. Two degree of freedom c. Three degree of freedom d. Six degree of freedom
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Sensory systems a. Simple and blind robot b. Vision robot c. Intelligent robot
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