Introduction to

Robotics
S6 CS(AI), AI&DS

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 Underwater Robots
• Underwater robots are mechanical devices designed to operate in subaquatic conditions without direct
human intervention.
• Used for ocean exploration, underwater infrastructure maintenance, environmental monitoring and
underwater photography.
• Underwater robots generally fall into one of two categories —
1. Remotely operated vehicles (ROVs) => unmanned drones remotely controlled by an operator
2. Autonomous underwater vehicles (AUVs)=> are pre-programmed to respond to their environments
without human intervention.
• Underwater robots are equipped with sensors, cameras and arm-like manipulators to perform tasks
while submerged.
• Collectively, these mechanical devices gather more information about the ocean.
• Underwater robots were used for defense purposes — either as remotely controlled missiles or recovery
vehicles tasked with collecting sunken artillery.
• These sub-aquatic machines have since been developed to study marine wildlife and habitats, monitor
environmental conditions, maintain underwater structures (such as pipelines and offshore platforms),
manage fisheries and even carry out search and rescue missions.

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 Surface Robots
• Surface robots are a category of robots designed to operate on the surfaces of various environments,
such as land, water, or other terrains.
• They are equipped with mobility systems, sensors, and processing units that enable them to navigate,
interact with, and perform tasks on surfaces efficiently.
• Land-based Surface Robots: Designed for terrestrial surfaces like roads, floors, and rugged terrains.
1. Autonomous Mobile Robots (AMRs): Navigate factory floors or warehouses.
2. Search and Rescue Robots: Operate in disaster zones.
3. Agricultural Robots: Automate farming tasks like seeding or weeding.
• Water Surface Robots: Operate on the surface of water bodies (oceans, rivers, lakes).
1. Autonomous Surface Vehicles (ASVs): Perform mapping, surveillance, or environmental monitoring.
2. Cleaning Robots: Collect debris or oil spills from water surfaces.
• Specialized Terrain Robots: Designed for unique surfaces such as icy terrains, sandy deserts, or volcanic
landscapes.
1. Mars Rovers: Designed for planetary exploration.
2. Volcanic Surface Robots: Operate in high-temperature environments.

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Water cleaning ROBOTS

MARS rover

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Types of Robots : Based on Application

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Types of Robots : Based on Application

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 Types of Robots : As per robots.ieee.org
1.Aerospace: It includes all sorts of flying robots—the
Smart Bird robotic seagull, but also robots that can
operate in space, such as Mars rovers and NASA's
Robonaut, the humanoid that flew to the International
Space Station
2.Consumer: Consumer robots are robots you can buy
and use just for fun, robot dog Aibo, the Roomba
vacuum, AI-powered robot assistants, and a growing
variety
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 Types of Robots : As per robots.ieee.org
3. Disaster Response: These robots perform
dangerous jobs like searching for survivors in the
aftermath of an emergency.
4. Drones: Also called unmanned aerial vehicles,
drones come in different sizes and have different
levels of autonomy.
5. Exoskeletons: Robotic exoskeletons can be used
for physical rehabilitation and for enabling a
paralyzed patient walk again
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 Types of Robots : As per robots.ieee.org
6. Humanoids: This is probably the type of robot
that most people think of when they think of a robot.
Examples of humanoid robots include Honda’s
Asimov

7. Industrial: The traditional industrial robot

consists of a manipulator arm designed to perform
repetitive tasks.

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 Types of Robots : As per robots.ieee.org
8. Medical: Medical and health-care robots
include systems such as the da Vinci surgical
robot

9.Military & Security: Military robots include

ground systems like Endeavor Robotics'
PackBot, used in Iraq and Afghanistan to scout
for improvised explosive devices, and BigDog,
designed to assist troops in carrying heavy gear.

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 Manipulators

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 ROBOTIC SYSTEM

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MANIPULATORS:

 Physical structure that moves around.

 It comprises of rigid bodies called links, connected by
means of joints

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Anatomy of Manipulators:
• Like human, a robot manipulator also has arm, wrist and hand arrangement.
• Arm ensures mobility and reachability.
• Wrist confers orientation.
• End-effector performs required task.

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 Anatomy of robotic manipulators:
LINKS
• The mechanical structure of robotic manipulators are rigid links or bars
• A rigid link that can be connected, at most with two other links are
referred to as binary links.
• Two links are connected together by a joint.

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ANATOMY OF ROBOTIC MANIPULATORS:
JOINTS
• 2 types
1. Linear- Provide extend/retract capabilities to adjust reach or positioning.
Prismatic (P)-joint that allows linear motion between two connected links
along a single axis
2. Rotary- Enable rotation at specific points to achieve complex orientations
A. Revolute (R) - A revolute joint allows rotational motion around a fixed axis.
B. Twisting- involves rotation, refers to a joint where the rotation occurs
around an axis aligned with the connecting link, such as a screw-like motion.
While both involve rotational motion, the key difference lies in the orientation
of the rotational axis relative to the manipulator's structure.
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ANATOMY OF ROBOTIC
MANIPULATORS: JOINTS

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ANATOMY OF ROBOTIC
MANIPULATORS: Revolute JOINTS
 The two links are joined by a pin (pivot) about the
axis of which the links can rotate with respect to each
other

https://www.youtube.com/watch?v=wwyJS9X3WvE

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 ANATOMY OF ROBOTIC
MANIPULATORS: Prismatic JOINTS
The relative motion of adjoint links of a joint can be either rotary or linear depending on the type of
joint.
Prismatic joint: the two links are so joined that these can slide (Linearly move) with respect to each
other.

https://www.youtube.com/watch?v=ih3oXigeY-U

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 ANATOMY OF ROBOTIC
MANIPULATORS: Cylindrical JOINTS

 Cylindrical joint: One link rotate against the other at 90 o

 Twist joint: two links remain aligned along a straight line but one turns
(twists) about the other along the link axis.

https://www.youtube.com/watch?v=Asnl4oprBJc https://www.youtube.com/watch?v=kLZP0kym2-s
https://www.youtube.com/watch?v=lBdbwj3-5hs
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 ANATOMY OF ROBOTIC
MANIPULATORS: Spherical JOINTS
Spherical Joints (also known as ball-and-socket joints): These joints
allow for rotational motion in multiple directions, and are typically
implemented using a ball-and-socket mechanism.

Screw Joints: These joints allow for linear motion along a

single axis and rotational motion around that axis, and are

typically implemented using a screwMuthoot

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Degrees of Freedom (DoF)
• Refer to the number of independent variables or parameters that define a system's state or the
ways it can move.
• It represents the amount of freedom the system has to move or change without violating any
constraints.
• DoF indicates the number of independent movements a mechanical system or robot can make.
• Example: A robotic arm may have multiple joints (e.g., shoulder, elbow, wrist), and each joint adds
a DoF.
• Types of Motion:
1. Translational (linear motion along x, y, z axes).
2. Rotational (angular motion around x, y, z axes).
Human Arm
Shoulder: 3 DoF (up/down, forward/backward, rotation)
Elbow: 1 DoF (bend/straighten)
Wrist: 3 DoF (flexion-extension, radioulnar deviation, and rotation).
Total: 7 DoF.
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 Degree of Freedom:
• Degrees of freedom (DoF) is the number of independent movements the robot is
capable of Ideally.

• The Degree of Freedom (DoF) of a robot refers to the number of independent

variables that are needed to describe the position and orientation of the robot's end
effector (such as a gripper, tool, or arm).

• The number of degrees of freedom that a robot has depends on its design and the tasks it
is intended to perform.

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 Revolute Joint
• A revolute joint is a type of mechanical joint that allows rotational
motion around a single fixed axis.
• It is one of the most common joints in robotics and is often compared to the
movement of a hinge.
• Motion: Allows rotation about one axis (1 Degree of Freedom, DOF).
• Fixed Axis: The axis of rotation is fixed, and motion occurs in a circular
path.
• Rotation Range: It may have limits (e.g., 0° to 180°) or allow continuous
rotation.
• Construction: Typically involves two components connected by a pivot
point (e.g., arm and base).
• Analogy:
• A revolute joint is like the hinge of a door or the elbow joint in the human
arm, which allows rotationalMuthoot
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 Prismatic Joint
• A prismatic joint is a type of mechanical joint that allows linear motion
(translation) along a single axis.
• Unlike revolute joints, which permit rotational movement, prismatic joints
enable parts to slide relative to one another.
1.Motion: Allows motion in a straight line along one axis (1 Degree of
Freedom, DOF).
2.Fixed Direction: Movement occurs along a single, fixed direction or
axis.
3.Translation Range: The range of motion can be limited or extended
depending on the design.
4.Construction: Typically involves one part sliding along a guide or track.
Analogy: A prismatic joint is like a sliding drawer or piston-cylinder
arrangement, where movement occurs only in a straight line.
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 Cylindrical Joint
• A cylindrical joint is a type of mechanical joint that allows both
rotational and linear motion along a single axis.
• It combines the properties of a revolute joint (rotation) and a prismatic
joint (translation), providing 2 Degrees of Freedom (DOF).
• Motion: Allows rotation around a fixed axis and translation along the same
axis.
• Degrees of Freedom (DOF): 2 DOF – one for rotational motion and one for
translational motion.
• Structure: Typically involves a sliding cylindrical shaft that can also rotate
within a guide or sleeve.
• Axis: The rotational axis and translational axis are coincident.
• Analogy: A cylindrical joint is like a piston-rod assembly that can slide and
rotate within a cylinder, or a telescopic antenna that extends while
rotating.
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 Hooke Joint/ Universal Joint
• A Hooke joint (also known as a universal joint or U-joint) is a type of mechanical joint used to
transmit rotational motion between two shafts that are not aligned with each other but intersect at
an angle.
• It is widely used for shafts that are at an angle to one another and require the transfer of torque.
• Motion: Allows rotational motion to be transmitted between non-collinear (angled) shafts.
• Degrees of Freedom: Provides 2 degree of rotational freedom (DOF).
• Angular Offset: Typically works with two shafts intersecting at an angle (up to 45° in standard
applications).
• Components: Consists of two yokes connected by a cross-shaped intermediate component.
• How It Works:
• The two shafts are connected through yokes.
• The yokes are attached to the spider (cross-shaped piece), which allows rotational movement
between the shafts.
• As one shaft rotates, the joint transmits this motion to the other shaft, even if they are at an angle to
each other.
• A Hooke
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joint functions similarly toMuthoot
how your wrist because of its ability to handle twisting
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(rotation) and slight angular adjustments, much like the universal joint.
 Ball and Socket Joint
• A Ball and Socket Joint is a mechanical joint that allows multi-
directional movement (rotation and angular motion) in three
dimensions.
• It consists of a spherical ball that fits into a cup-like socket, enabling
the connected parts to rotate freely in all direction.
• Motion: Allows rotational movement around multiple axes (3 Degrees
of Freedom).
• Structure:A ball-shaped end fits into a concave socket.
• The ball is free to move within the socket while maintaining contact.
• Degrees of Freedom (DOF): Provides 3 DOF – movement around the X,
Y, and Z axes.
• Range of Motion: Enables a wide range of rotation and angular motion,
including swiveling and pivoting.
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 Anatomy:
• The hip joint and shoulder joint are natural ball and socket joints.
• The ball-like end of one bone fits into the socket of another, enabling
a wide range of motion.
Advantages
1.Provides maximum flexibility in movement.
2.Allows rotation and angular motion in multiple
directions.
1.Can absorb shock and accommodate misalignment in mechanical
systems.

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 Some Classification of Manipulators
• Manipulators can be classified according to a variety of criteria.
• The following are two of these criteria:
By Motion Characteristics Planar manipulator:
1. A manipulator is called a planar manipulator if all the moving links
move in planes parallel to one another.
2. Spherical manipulator: A manipulator is called a spherical
manipulator if all the links perform spherical motions about a
common stationary point.
3. Spatial manipulator: A manipulator is called a spatial manipulator if
at least one of the links of the mechanism possesses a general
spatial motion.

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DaVinci Surgical System
contains multiple robotic
manipulator arms.

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 SCARA and PUMA
• SCARA stands for Selective Compliance Assembly Robot Arm.
• It is a type of robotic manipulator widely used for tasks requiring high-speed and precise
horizontal motion.
• Structure: SCARA has a rigid vertical axis (Z-axis) and flexible horizontal motion,
resembling a human arm's planar movements.
• Degrees of Freedom (DOF): Typically 4 (3 rotational DOF for horizontal positioning and 1
prismatic DOF for vertical motion).
• Selective Compliance: Compliant in the horizontal plane, allowing flexibility in assembly
tasks, but rigid in the vertical axis for precision.
• Advantages:
• High speed and accuracy.
• Simplified programming for horizontal plane tasks.
• Compact and lightweight, making it suitable for small workspaces.

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• Applications:
• Assembly tasks (e.g., fitting components together).
• Pick-and-place operations.
• Soldering and fastening in electronics.
• Example:
• Robots from manufacturers like Epson, Yamaha,
and Adept Robotics commonly feature
SCARA configurations.

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 PUMA
• PUMA stands for Programmable Universal Machine for Assembly.
• It is a widely recognized serial robotic arm that is versatile and capable of
handling complex 3D tasks.
• Structure: PUMA is an articulated robot with 6 degrees of freedom,
resembling a human arm with a shoulder, elbow, and wrist.
• Degrees of Freedom (DOF): 6 (three for positioning and three for
orientation).
• Flexibility: Capable of reaching complex positions and orientations in 3D
space.
• Advantages:
• Highly flexible and suitable for tasks requiring 3D motion.
• High precision and repeatability.
• Capable of working in constrained spaces due to its compact design.
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• Applications:
• Assembly and inspection tasks.
• Welding and painting.
• Medical applications (e.g., robotic surgery).
• Research and teaching in robotics.
• Example:
• The PUMA 560 robot by Unimation is widely used in industrial and
research settings.

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 Ethics in Robotics
Science fiction writer Isaac Asimov proposed three “Laws of Robotics”.
•First Law (Human safety): A human being or, through inaction, allow a human
being to come to harm.
•Must obey orders given by human beings except where such orders would conflict
with the First Law.
•Must protect its own existence as long as such protection does not conflict with
the First or Second Law.

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