Module 7 : CNC Programming and Industrial Robotics

Lecture 5 : Industrial robotics-1

1. Introduction

An industrial robot is a general-purpose, programmable machine. It possesses some anthropomorphic characteristics, i.e. human-like characteristics that resemble the human physical structure. The robots also respond to sensory signals in a manner that is similar to humans. Anthropomorphic characteristics such as mechanical arms are used for various industry tasks. Sensory perceptive devices such as sensors allow the robots to communicate and interact with other machines and to take simple decisions. The general commercial and technological advantages of robots are listed below:

2. Robot anatomy and related attributes

2.1 Joints and Links
The manipulator of an industrial robot consists of a series of joints and links. Robot anatomy deals with the study of different joints and links and other aspects of the manipulator's physical construction. A robotic joint provides relative motion between two links of the robot. Each joint, or axis, provides a certain degree-of-freedom (dof) of motion. In most of the cases, only one degree-of-freedom is associated with each joint. Therefore the robot's complexity can be classified according to the total number of degrees-of-freedom they possess.

Each joint is connected to two links, an input link and an output link. Joint provides controlled relative movement between the input link and output link. A robotic link is the rigid component of the robot manipulator. Most of the robots are mounted upon a stationary base, such as the floor. From this base, a joint-link numbering scheme may be recognized as shown in Figure 7.5.1. The robotic base and its connection to the first joint are termed as link-0. The first joint in the sequence is joint-1. Link-0 is the input link for joint-1, while the output link from joint-1 is link-1—which leads to joint-2. Thus link 1 is, simultaneously, the output link for joint-1 and the input link for joint-2. This joint-link-numbering scheme is further followed for all joints and links in the robotic systems.

Fig. 7.5.1 Joint-link scheme for robot manipulator