Non-Traditional Machining and
Automation
(MET 255)
B.Tech. (4th Sem) Spring 2021
Department of Mechanical Engineering
NIT Srinagar
Course Incharge
Dr. Noor Zaman Khan
Course Outcomes
At the end of the course, a student should be able to:
• CO1: Analyze and access the importance of automation and industrial automated systems.
• CO2: Identify and Analyze functions and functioning of CNC machines.
• CO3: Recognize the need of non-traditional machining processes and understand the working of high energy
beam machining.
• CO4: Illustrate underlying mechanisms in non-traditional machining processes along with their applications
Syllabus of Unit 1
• Introduction to automation
• Types of automation
• Introduction to Flexible manufacturing systems (FMS)
• Elements, types and advantages of FMS
• Cellular Manufacturing
• Types of flexibilities in FMS
• Test of flexibility
• Product processing strategies
• Introduction to robotics
• Elements of Robotic Systems
Definition of Robot
1.Definition of robot by Computer Aided Manufacturing-International (CAM-I),
USA:
It states that a robot is “a device that performs functions ordinarily ascribed to
human beings, or operates with what appears to be almost human intelligence.”
2. The second definition is by Robotics Institute of America (RIA), USA.
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 a variety of tasks.”
Classification of Robots Based on Mechanical Configuration
• Rectangular Co-ordinate (Cartesian co-ordinate) Robots
• Cylindrical Co-ordinate Robots
• Spherical Co-ordinate Robots
• Revolute Co-ordinate Robots
Rectangular Co-ordinate (Cartesian co-ordinate) Robots
• A robot with this geometry has three linear
axes using sliding joints whose motion
traces a box like shape.
• This type of configuration is ideal for
straight-line and side-to-side movements.
• These robots can be used for tasks
involving pick and place operations like
material handling and loading and
unloading of work pieces in machines.
Cylindrical Co-ordinate Robots
• This is also referred to as a rectilinear co-ordinate
robot.
• A robot with this geometry has three axes of motion
that trace the shape of a cylinder.
• It has a base unit, which rotates, a vertical extension,
and a horizontal arm that moves in a line.
• This type is best suited for movements around a
base.
Spherical Co-ordinate Robots
• This is also known as the polar co-
ordinate robot.
• A robot with this geometry has three
axes of motion that trace the shape of a
sphere.
• It has a base unit that rotates, a main
body that tilts, and arm that slides in and
out.
Revolute Co-ordinate Robots
• This configuration is also known as anthropomorphic
(i.e. like a human arm) or articulated arm or jointed
arm.
• Such a robot has three axes of motion involving a
base, a shoulder, and an “elbow” that rotate.
Selective Compliance Assembly Robot Arm (SCARA)
• This configuration is a horizontally revolute.
• A robot of this type moves by sweeping over the
workspace at a fixed horizontal distance before
moving a vertical arm down.
• This permits a compact and relatively low cost design
for small assembly tasks.
Manipulator Design
• Robot manipulators can usually be divided into two sections: arm-and-body
assembly and wrist assembly.
• There are typically three joints associated with the arm and body assembly, and two
or three joints associated with the wrist.
• The function of the arm-and-body is to position an object or tool, and the wrist
function is to properly orient the object or tool.
Wrist motions
• There are three basic types of wrist motions:
• i. Roll: Rotational or swivel movement in a plane
perpendicular to the end of the arm.
• ii. Pitch: Rotational or bending movement in a plane
vertical to the arm.
• iii. Yaw: Rotational or twisting movement in a plane
horizontal to the arm.
End Effectors
• End Effectors: For a robot to be useful in a particular application, it must be
equipped with special tooling designed for the application.
• An end effector is the special tooling that connects to the robot’s wrist-end to
perform the specific task. There are two general types of end effector: tools
and grippers.
• A tool is used when the robot must perform a processing operation. The special
tools include, arc-welding tools, spray-painting nozzles, rotating spindles,
heating torches, and assembly tools (e.g., automatic screwdriver). The robot is
programmed to manipulate the tool relative to the work part being processed.
• Grippers are designed to grasp and move objects during the work cycle. The
objects are usually work parts, and the end effector must be designed specifi
cally for the part. Grippers are used for part placement applications, machine
loading and unloading, and palletizing.
Thank You
