Robot MechanicsLec. 1: An Introduction

Prof. S.K. Saha

Dept. of Mech. Eng.

IIT Delhi

August 01, 2017@IIT Delhi

Contr

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Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg

Humanoid Robots

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

PUMA Robot

Photo of a Unimate robot[Courtesy: http://www.robothalloffame.org/inductees/

03inductees/unimate.html]

RTX Robot

SCORBOT-Israeli (by Falcon)

Other Applications: Space Robot

Fig. 1.4 An AGV: (a) Stand alone; (b) At work

[Courtesy: www.globalspec.com]

(a) (b)

Wheeled Robots

Centre-driven Vehicle (Carlisle, 1984)

With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel

(Muir and Neuman, 1987)

RoboTRAC

A system supported with wheels and legs

Snake-like articulated mobile robot

Fig. 1.2 (b) Sojourner microrover

Legged robot

Medical Applications

The da Vinci robot for minimally invasive surgery [Courtesy: http://www.intuitivesurgical.com/products/]

Indian Robot: PPR by Systemantics, India

Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]

Tata Automation Limited (TAL), Pune

Daksh (DRDO)

20

Defence robot ‘Daksh’ by RDE (DRDO), Pune[Courtesy: http://en.wikipedia.org/wiki/DRDO_Daksh]

Grey Orange: Warehouse RobotsSamay Kohli (left) and Akash Gupta

Netra (DRDO)

23

DRDO’s unmanned aerial vehicle, NETRA[Courtesy: http://en.wikipedia.org/wiki/DRDO_Netra]

Remotely operated underwater robot by CMERI, Durgapur

[Courtesy: http://www.cmeri.res.in/rnd/rov.html]

Para

llel Robots

(SD

D’0

8-

10, 12-1

6)

Singularity

Other Application of Parallel Robots

Research@IIT Delhi(10 Faculty + 20 Students)

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I/O Devices Adaptive F/T Control Virtual Environment

Vision Based Control

Kinematic IdentificationDynamic Identification

RoboCon2RoboMuse: A New Initiative

Nov.’08-Mar’09 Nov.’09

Projects and Awards

• Integrated with the courses

• Four B. Tech projects guided

• Two awarded best awards + 2014 (RoboMuse 3.0) In 2017

• Another B. Tech project in 2016 (RoboMuse 4.0: Autonomous & obstacle avoidance)

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

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.

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

Fig. 1.18 Estimated populations of industrial robots [Courtesy: http://www.ifr.org/industrial-robots/statistics]

Fig. 1.19 Number of service robots sold in 2011 and 2012

[Courtesy: http://www.ifr.org/statistics/keyData2005.htm]

Table 1.1 Estimated stock of industrial robots during 2011-12 and forecast for 2013 and 2016

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

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

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]

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

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?

Conclusions

• Robotics is explained

• Applications of robots

• Several advanced robots are shown

• RoboMuse

saha@mech.iitd.ac.in sahaiitd@gmail.com

http://sksaha.com

Thank You