Unit I Fundamentals of Robot: (Revision)

UNIT I
FUNDAMENTALS OF
ROBOT
(Revision)
Prepared by
T.Michel Raj
Assistant Professor
Jeppiaar SRR Engineering College
Chennai
UNIT I
FUNDAMENTALS OF
ROBOT
Robot – Definition – Robot Anatomy – Co-
ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll,
Joint Notations, Speed of Motion, Pay Load –
Robot Parts and Functions – Need for Robots –
Different Applications
1. Define Robot. Nov/Dec 2008
RIA 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 tasks.
2. Types of rotary joint notations Nov/Dec 2010
o Rotational joint (type R)
o Twisting joint (type T)
o Revolving joint (type V)
3. Work space? Nov/Dec 2010
The space in which the end point of the robot arm is
capable of operating 4. Accuracy of robot?
The robot‘s ability to reach a reference point within the robot‘s full work
volume is known as accuracy of robot.
5. Benefits of industrial robots? Nov/Dec 2009
 
 Increased Productivity
 
 Significant Savings
 
 Improved Quality
 
 Better Safety
 
Competitive Edge
6. Repeatability of robot? May/June 2013
Repeatability refers to robot‘s ability to return to the programmed point

when it is commanded to do so.
7. Define Pitch, yaw and roll. Apr/May

2010
Pitch is rotation around the X axis, yaw is around the Y axis, and roll is around
the Z axis. Yaw is side to side swinging around an axis. Pitch is up and down
movement
about an axis and roll is rotatory motion about an axis.

8. What is work volume? Nov/Dec
2009
The volume of the space swept by the robot arm is called work volume.
9. Define the Quality of a robot. Nov/Dec

2011
A Robot is said to be high quality when the precision and accuracy is
more.
10. Robot anatomy? Nov/Dec 2010,2011,2013
Study of structure of robot is called robot anatomy. Manipulator is constructed of

a series of joints and links. A joint provides relative motion between the input link
and the output link.
11. Three degrees of freedom associated with the arm and body motion?
Apr/May2010
1. Right (or) left movement (X-axis motion)
2. In and out movement (Y-axis motion)
3. Vertical movement (Z-axis motion)
12. What is Industrial Robot? May/June 2011
An industrial robot is an automatically controlled, reprogrammable, multipurpose
manipulator programmable in three or more axes. A programmable mechanical device
that is used in place of a person to perform dangerous or repetitive tasks with a high
degree of accuracy.
13. What is mean Payload? Nov/Dec 2012,2013
The maximum load which can be carried out by the manipulator at low or
normal speed.
14. List out the Important specifications of an industrial robot. May/June
2013
o Accuracy
o Repeatability
o Degree of Freedom
o Resolution
o Envelope
15.Four basic robot configurations available commercially? Nov/Dec 2010,2011
o Cartesian coordinate system
o Cylindrical coordinate system
o Polar or spherical coordinate system
o Revolute coordinate system
15. Work envelop? Nov/Dec
2009,2011,2012
The work envelop is described by the surface of the work space.
1. Different types of robots.
Industrial robots
Domestic or household robots
Medical robots
Service robots
Military robots
Entertainment robots
Space robots
Hobby and competition robots
Explorer robots
Laboratory robots
Sequence robots
Playback robots
2. Four basic robot configurations classified according to the coordinate system.
Cartesian configuration
Joint-arm configuration
Polar configuration
Cylindrical configuration
Joint Notation Scheme.
Rotational movement
Radial movement
Vertical movement:
These degrees of freedom, independently or in combination with others, define

the complete motion of the end-effectors.
Technical specification in Robotics.
Accuracy:
Repeatability:
Degree of Freedom (DOF):

Resolution:
Envelope:
Reach:
Maximum Speed:
Payload:
Various parts of a robot with neat sketch.
Robot anatomy with neat sketch.
Base
The manipulator
The end-effector or gripper
Drives or actuators
Controller
Sensors
Interface
Types of joints used in robots.
Rotational Joint:
Linear Joint:
Twisting Joint:
Orthogonal Joint:
Revolving Joint:
Four types of robot control.
1. Point-to-point (PTP) control robot

2. Continuous-path (CP) control robot
3. Controlled-path robot
4. Stop-to-Stop
Draw the Wrist Motions in detail.

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UNIT I

6. Repeatability of robot? May/June 2013

Repeatability refers to robot‘s ability to return to the programmed point

7. Define Pitch, yaw and roll. Apr/May

about an axis and roll is rotatory motion about an axis.

9. Define the Quality of a robot. Nov/Dec

10. Robot anatomy? Nov/Dec 2010,2011,2013

Study of structure of robot is called robot anatomy. Manipulator is constructed of

13. What is mean Payload? Nov/Dec 2012,2013

These degrees of freedom, independently or in combination with others, define

Degree of Freedom (DOF):

The end-effector or gripper

1. Point-to-point (PTP) control robot

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