![Page 1: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/1.jpg)
Robot MechanicsLec. 1: An Introduction
Prof. S.K. Saha
Dept. of Mech. Eng.
IIT Delhi
August 03, 2015@IIT Delhi
![Page 3: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/3.jpg)
Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg
Humanoid Robots
![Page 4: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/4.jpg)
More Robots
Move to Directory
• Session: ‘sess1’ (9 min)
00-03, 06-12 min
• Session: ‘sess2’ (7 min)
08-15 min
![Page 5: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/5.jpg)
History: Definition of Robot
• What is a robot?
Robit (Check word) --> Work
Robota (Slav word) --> Menial or slave labour
Got publicity from the play
Rossum’s Universal Robots (RUR) [1921]
Karel Capek
![Page 6: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/6.jpg)
PUMA Robot
![Page 7: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/7.jpg)
RTX Robot
![Page 8: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/8.jpg)
SCORBOT-Israeli (by Falcon)
![Page 9: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/9.jpg)
Pick/Place Robot-Systemantics, India
![Page 10: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/10.jpg)
Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
![Page 11: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/11.jpg)
PAR Lab.Pro
gra
mm
e for
Auto
nom
ous
Robotics
(S
ponso
red b
y B
ARC/B
RN
S)
Visit u
s at h
ttp://ro
botics.iitd
.ac.in
![Page 12: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/12.jpg)
I/O Devices Adaptive F/T Control Virtual Environment
Vision Based Control
Kinematic IdentificationDynamic Identification
Show
![Page 13: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/13.jpg)
Parallel Robots
![Page 14: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/14.jpg)
More Robots
• Parallel Robots
• Made in IITD
![Page 15: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/15.jpg)
Space Robot
![Page 16: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/16.jpg)
Fig. 1.4 An AGV: (a) Stand alone; (b) At work
[Courtesy: www.globalspec.com]
(a) (b)
![Page 17: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/17.jpg)
Wheeled Robots
Centre-driven Vehicle (Carlisle, 1984)
With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel
(Muir and Neuman, 1987)
![Page 18: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/18.jpg)
RoboTRAC
A system supported with wheels and legs
![Page 19: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/19.jpg)
Snake-like articulated mobile robot
![Page 20: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/20.jpg)
Fig. 1.2 (b) Sojourner microrover
![Page 21: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/21.jpg)
Daksh
21
![Page 22: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/22.jpg)
Fig. 1.14 Defence robot ‘Daksh’ by DRDO[Courtesy: http://en.wikipedia.org/wiki/DRDO_Daksh]
![Page 23: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/23.jpg)
Legged robot
![Page 24: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/24.jpg)
At homes
• Robots to work with human beings
• Arriving at
–Homes
–Kitchens
–Hospitals
RoboSquare, Japan
![Page 25: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/25.jpg)
Robot MechanicsLec. 2: An Introduction
(contd.)
Prof. S.K. Saha
Dept. of Mech. Eng.
IIT Delhi
August 07, 2015@IIT Delhi
![Page 26: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/26.jpg)
Remotely operated underwater robot by CMERI, Durgapur
[Courtesy: http://www.cmeri.res.in/rnd/rov.html]
![Page 27: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/27.jpg)
Medical Applications
The da Vinci robot for minimally invasive surgery [Courtesy: http://www.intuitivesurgical.com/products/]
![Page 28: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/28.jpg)
Netra
28
![Page 29: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/29.jpg)
Int. Std. Org. (ISO) Definition
• Robot
An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications
• Other definitions: Rob. Soc. of Japan, etc.
• Common temrs: Re-programmable, Multi-purpose
![Page 30: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/30.jpg)
Laws of Robotics
• By Issac Asimov (1940s)
1. A robot may not injure a human being or, though inaction, allow a human being to come to harm.
2. A robot must obey the orders given by human beings, except when such orders would conflict with the first law.
3. A robot must protect its own existence, as long as such protection does not conflict with the first or second law.
![Page 31: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/31.jpg)
First Robot
• First Commercial Robot (1962)
By Unimation Inc., USA, founded by
Joseph F. Engelberger
(Father of Robotics)
in 1950
• Installed in General Motors plant
![Page 32: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/32.jpg)
Photo of a Unimate robot[Courtesy: http://www.robothalloffame.org/inductees/
03inductees/unimate.html]
![Page 33: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/33.jpg)
Fig. 1.18 Estimated populations of industrial robots [Courtesy: http://www.ifr.org/industrial-robots/statistics]
![Page 34: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/34.jpg)
Fig. 1.19 Number of service robots sold in 2011 and 2012
[Courtesy: http://www.ifr.org/statistics/keyData2005.htm]
![Page 35: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/35.jpg)
Table 1.1 Estimated stock of industrial robots during 2011-12 and forecast for 2013 and 2016
![Page 36: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/36.jpg)
Reasons for Poor Utilization
• Mainly due to
U N E M P L O Y M E N T
[Japan with 3 50 000 robots in 1992 had < 3% unemployment]
• Other reasons
– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
![Page 37: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/37.jpg)
More Reasons
• R&D Supports: By Govt. only
• Companies involved: Almost nil
• Advanced Research Absorption: Poor
• Questions:
Should We Use Robots?
Do We Need Robots?
If yes, how?
Yes
Yes (modified way)
Let’s see
![Page 38: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/38.jpg)
Robotics in Our Countries
• To Overcome `Robotics vs. Unemployment’
• Do we like to
– work in front of a furnace at 500oC [Hazardous]
– weld two parts for 8H/day for several years? [Monotonous]
• Robot = Machine [Robot Human]
![Page 39: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/39.jpg)
Where and How?
• Where?
– In hazardous environment (Chemical, Steel, Nuclear, … plants)
– High precision applications
– Export oriented products
• How?
– Indigenous design
– Develop as required (Customized design)
– Make awareness
– Think it as a machine
![Page 40: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/40.jpg)
When to Use a Robot?
Thumb Rules:
• Is task Dirty, Dull, Dangerous, Difficult?
• Will a human be jobless?
• Is a human willing to do a job?
• Is robot usage economic?
![Page 41: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/41.jpg)
DD-MIT-Robocon’07Final in DD-Sports Test of Automatic
Hanoi, Vietnam
![Page 42: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/42.jpg)
Robotech Room@IITD
![Page 43: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/43.jpg)
RoboCon2RoboMuse: A New Initiative
Nov.’08-Mar’09 Nov.’09
![Page 44: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/44.jpg)
Projects and Awards
• Three B. Tech projects guided
• Two awarded best awards + 2014 (RoboMuse for 24x7)
• Excel-based module for gripper design
• Program for chasis design
• Motivated students to correlate theory with practise
![Page 45: Robot Mechanics Lec. 1: An Introductionsksaha.com/sites/default/files/upload_data/documents/01-02intro.pdf · Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech](https://reader035.vdocuments.us/reader035/viewer/2022062413/5ae421007f8b9a5b348e4d55/html5/thumbnails/45.jpg)
Conclusions
• Robotics is explained
• Several advanced robots are shown
• Robocon robots
• RoboMuse