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SUBMITTED BY 
AVINASH KUMAR YADAV 3023709008 
MANOJ KUMAR SAHU 3023709025 
N VENKATESHWAR RAO 3023709030 
S VENKAT RAJA 3023709047 
VIKRAM SAHU 3023709062 
UNDER GUIDANCE OF 
Asst. Prof. CHITRAKANT TIGER 
DEPARTMENT OF MECHANICAL ENGINEERING 
CHOUKSEY ENGINEERING COLLEGE OF ENGINEERING 
BILASPUR 495001
multi functional operating robot
multi functional operating robot
multi functional operating robot
INTRODUCTION
 A machine that resembles a human and 
does mechanical routine tasks on command 
 Any machine or mechanical device that 
operates automatically with human like skill
multi functional operating robot
multi functional operating robot
Literature review 
Word robot was coined by a Czech 
novelist Karel Capek in a 1920 play titled 
Rossum’s Universal Robots (RUR) 
Robota in Czech is a word for worker or 
servant Karel Capek
 Asimov proposed three “Laws 
of Robotics” 
 Law 1: A robot may not injure 
a human being or through 
inaction, allow a human being 
to come to harm 
 Law 2: A robot must obey 
orders given to it by human 
beings, except where such 
orders would conflict with a 
higher order law 
 Law 3: A robot must protect 
its own existence as long as 
such protection does not 
conflict with a higher order 
law
History of Robotics: I 
 The first industrial 
robot: UNIMATE 
 1954: The first programmable 
robot is designed by George 
Devol, who coins the term 
Universal Automation. He later 
shortens this to Animation, 
which becomes the name of 
the first robot company (1962). 
UNIMATE originally 
automated the manufacture 
of TV picture tubes
History of Robotics: II 
1978: The Puma (Programmable 
Universal Machine for Assembly) robot 
is developed by Unimation with a 
General Motors design support 
PUMA 560 Manipulator
History of Robotics: III 
1980s: The robot industry enters a phase of rapid growth. Many institutions 
introduce programs and courses in robotics. Robotics courses are spread across 
mechanical engineering, electrical engineering, and computer science 
departments. 
Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator
History of Robotics: IV 
1995-present: 
Emerging applications 
in small robotics and 
mobile robots drive a 
second growth of start-up 
companies and 
research 
2003: NASA’s Mars Exploration Rovers will launch toward Mars in 
search of answers about the history of water on Mars
Robot Anatomy 
 Manipulator consists of joints and links 
 Joints provide relative motion 
 Links are rigid members between 
joints 
 Various joint types: linear and rotary 
 Each joint provides a “degree-of-freedom” 
 Most robots possess five or six 
degrees-of-freedom 
 Robot manipulator consists of two 
sections: 
 Body-and-arm – for positioning of 
objects in the robot's work volume 
 Wrist assembly – for orientation of 
objects 
End of Arm 
Base 
Joint3 Link3 
Joint1 
Link0 
Link2 
Link1 
Joint2
Manipulator Joints 
 Translational motion 
 Linear joint (type L) 
 Orthogonal joint (type O) 
 Rotary motion 
 Rotational joint (type R) 
 Twisting joint (type T) 
 Revolving joint (type V)
Degrees of Freedom 
 Joints constraint free movement, 
measured in “Degrees of 
Freedom” (DOFs). 
 Links start with 6 DOFs, 
translations and rotations around 
three axes. 
 Joints reduce the number of 
DOFs by constraining some 
translations or rotations. 
 Robots classified by total number 
of DOFs
multi functional operating robot
Wrist Configurations 
 Wrist assembly is attached to end-of-arm 
 End effectors is attached to wrist assembly 
 Function of wrist assembly is to orient end 
effectors 
 Body-and-arm determines global position of end 
effectors 
 Two or three degrees of freedom: 
 Roll 
 Pitch 
 Yaw 
 Notation :RRT
multi functional operating robot
. The three motion to orient the hand, 
which is the first part of human arm, 
are approximately in the following 
range. 
-180<Roll<+90 
-90<Pitch<+50 
-45<yaw<+15
multi functional operating robot
multi functional operating robot
multi functional operating robot
multi functional operating robot
With the help of remote control system 
movement of robot can controlled.
ACTUATOR 
• Actuators are 
mechanical devices 
which converts energy 
into motion 
• The energy can be 
hydraulic, pneumatic or 
electric. 
• In order to avoid the 
complexity we have 
chosen dc motor as 
actuator.
multi functional operating robot
multi functional operating robot
WHEELS 
 Wheels are employed on the robot to 
provide the motion.
Non driven wheel
multi functional operating robot
GEAR BOX 
Gear box is a motion transmission device 
which is used to control rpm of wheel.
multi functional operating robot
multi functional operating robot
multi functional operating robot
multi functional operating robot
ADVANTAGE 
 Simplicity 
 Effective for plane surfaces 
 Cost Effective 
 Power Efficient
multi functional operating robot
multi functional operating robot
Programming ……………..
REFERENCES 
 ROBOTICS AND CONTROL BY R K MITTAL NAGRATH 
 Balch, T. & Arkin R. 1998. “Behavior-based Formation Control for 
Multi-robot Teams” IEEE Transactions on Robotics and Automation, 
14(6). 
 YOUTUBE.COM 
 WIKIPEDIA 
 M. P. Groover, M. Weiss, R. N. Nagel, and N. G. Odrey. Industrial 
 Robotics: Technology, Programming and Applications. McGraw- 
Hill,1986. 
 (www.kukaroboter.de) 
 http://introrobotics.googlepages.com 
 http://en.wikibooks.org/wiki/Robotics
All the glory in the 
world can be 
achieved by 
only………………………. 
beginning….. 
THE END

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multi functional operating robot

  • 1. SUBMITTED BY AVINASH KUMAR YADAV 3023709008 MANOJ KUMAR SAHU 3023709025 N VENKATESHWAR RAO 3023709030 S VENKAT RAJA 3023709047 VIKRAM SAHU 3023709062 UNDER GUIDANCE OF Asst. Prof. CHITRAKANT TIGER DEPARTMENT OF MECHANICAL ENGINEERING CHOUKSEY ENGINEERING COLLEGE OF ENGINEERING BILASPUR 495001
  • 6.  A machine that resembles a human and does mechanical routine tasks on command  Any machine or mechanical device that operates automatically with human like skill
  • 9. Literature review Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rossum’s Universal Robots (RUR) Robota in Czech is a word for worker or servant Karel Capek
  • 10.  Asimov proposed three “Laws of Robotics”  Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm  Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law  Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law
  • 11. History of Robotics: I  The first industrial robot: UNIMATE  1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Animation, which becomes the name of the first robot company (1962). UNIMATE originally automated the manufacture of TV picture tubes
  • 12. History of Robotics: II 1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support PUMA 560 Manipulator
  • 13. History of Robotics: III 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments. Adept's SCARA robots Cognex In-Sight Robot Barrett Technology Manipulator
  • 14. History of Robotics: IV 1995-present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research 2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars
  • 15. Robot Anatomy  Manipulator consists of joints and links  Joints provide relative motion  Links are rigid members between joints  Various joint types: linear and rotary  Each joint provides a “degree-of-freedom”  Most robots possess five or six degrees-of-freedom  Robot manipulator consists of two sections:  Body-and-arm – for positioning of objects in the robot's work volume  Wrist assembly – for orientation of objects End of Arm Base Joint3 Link3 Joint1 Link0 Link2 Link1 Joint2
  • 16. Manipulator Joints  Translational motion  Linear joint (type L)  Orthogonal joint (type O)  Rotary motion  Rotational joint (type R)  Twisting joint (type T)  Revolving joint (type V)
  • 17. Degrees of Freedom  Joints constraint free movement, measured in “Degrees of Freedom” (DOFs).  Links start with 6 DOFs, translations and rotations around three axes.  Joints reduce the number of DOFs by constraining some translations or rotations.  Robots classified by total number of DOFs
  • 19. Wrist Configurations  Wrist assembly is attached to end-of-arm  End effectors is attached to wrist assembly  Function of wrist assembly is to orient end effectors  Body-and-arm determines global position of end effectors  Two or three degrees of freedom:  Roll  Pitch  Yaw  Notation :RRT
  • 21. . The three motion to orient the hand, which is the first part of human arm, are approximately in the following range. -180<Roll<+90 -90<Pitch<+50 -45<yaw<+15
  • 26. With the help of remote control system movement of robot can controlled.
  • 27. ACTUATOR • Actuators are mechanical devices which converts energy into motion • The energy can be hydraulic, pneumatic or electric. • In order to avoid the complexity we have chosen dc motor as actuator.
  • 30. WHEELS  Wheels are employed on the robot to provide the motion.
  • 33. GEAR BOX Gear box is a motion transmission device which is used to control rpm of wheel.
  • 38. ADVANTAGE  Simplicity  Effective for plane surfaces  Cost Effective  Power Efficient
  • 42. REFERENCES  ROBOTICS AND CONTROL BY R K MITTAL NAGRATH  Balch, T. & Arkin R. 1998. “Behavior-based Formation Control for Multi-robot Teams” IEEE Transactions on Robotics and Automation, 14(6).  YOUTUBE.COM  WIKIPEDIA  M. P. Groover, M. Weiss, R. N. Nagel, and N. G. Odrey. Industrial  Robotics: Technology, Programming and Applications. McGraw- Hill,1986.  (www.kukaroboter.de)  http://introrobotics.googlepages.com  http://en.wikibooks.org/wiki/Robotics
  • 43. All the glory in the world can be achieved by only………………………. beginning….. THE END