1. Ted Lee Industrial & Systems Engineering
Robotics Technology
Ted Lee
Industrial & Systems Engineering

2. Introduction
Robot, computer-controlled machine that is programmed to move, manipulate objects, and accomplish work while interacting with its environment.
Robots are able to perform repetitive tasks more quickly, cheaply, and accurately than humans.

3. Introduction
The term robot originates from the Czech word robota, meaning “forced labor.”
It was first used in the 1921 play R.U.R. (Rossum's Universal Robots) by the Czech novelist and playwright Karel Capek.
The word robot has been used since to refer to a machine that performs work to assist people or work that humans find difficult or undesirable.

4. Definition of a Robot
"A reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks.“ -- According to The Robot Institute of America (1979)
"An automatic device that performs functions normally ascribed to humans or a machine in the form of a human." -- According to the Webster dictionary (1993)

5. Classification of Robots
Japanese Industrial Robot Association (JIRA)
Class 1: Manual-Handling Device
Class 2: Fixed-Sequence Robot
Class 3: Variable-Sequence Robot
Class 4: Playback Robot
Class 5: Numerical Control Robot
Class 6: Intelligent Robot
Robotics Institute of America (RIA)

6. History of Robotics
Automata, or manlike machines, appeared in the clockwork figures of medieval churches.
Feedback control, the development of specialized tools, and the division of work into smaller tasks that could be performed by either workers or machines were essential ingredients in the automation of factories in the 18th century.
As technology improved, specialized machines were developed for tasks such as placing caps on bottles or pouring liquid rubber into tire molds.

7. History of Robotics 1952 1st NC machine was built at MIT.
1954 George Devol developed the 1st Programmable Robot.
1955 Denavit & Hartenberg developed homogeneous transformation matrices.
1956 George Devol developed the magnetic controller, a playback device.
1956 Eckert & Mauchley built the ENIAC Computer at U of Penn.
1961 US Patent was issued to George Devol for “Programmed Article Transfer,” a base for Unimate robots.
1962 Unimation was formed, 1st industrial robot appeared, GM installed its 1st robot from Unimation.

8. History of Robotics 1967 1st robot was imported from Japan.
1968 An intelligent robot (Shakey) was built at Stanford.
1972 IBM worked on a rectangular coordinate robot for internal use. It eventually developed 7565 robot.
1973 Cincinnati Milacron introduced T3 model robot.
1975 Victor Scheinman, while a graduate student at Stanford University in California, developed a truly flexible multipurpose manipulator known as the Programmable Universal Manipulation Arm (PUMA).

9. History of Robotics
1978 1st PUMA robot was shipped to GM by Unimation.
1982 GM and Fanuc of Japan signed an agreement to build GMFanuc robot. Westinghouse bought Unimation (later sold to Staubli of Switzerland).
1983 Robotics become very popular subject, both in industry & academia.
1990 Cincinnati Milacron was acquired by ABB of Switzerland. Most of small robot manufacturers went out of the market.

10. Advantages of Robots
Can increase productivity, safety, efficiency, quality, and consistency of products
Can work in hazardous environments
No need for environmental comfort
Can work continuously without fatigue or boredom
Have repeatable precision
Are more accurate, and powerful than humans
Can process multiple tasks simultaneously

11. Disadvantages of Robots
Replacing human workers creating economic and social problems
Lack capability to respond in emergencies
Limited capability in sensing
Are very costly

12. Robot Components
Manipulator, or rover (Arms)
End effectors (Hands)
Actuators (Muscles)
Sensors (Nerves, skin, eyes, etc.)
Controller (Cerebellum)
Processor (Brain)
Software (Logic)

13. Robots by type Classification of industrial robots by mechanical structure
Cartesian robot / Gantry robot Robot whose arm has three prismatic joints, whose axes are coincident with a Cartesian coordinator.

14. Robots by type Classification of industrial robots by mechanical structure
Cylindrical robot Robot whose axes form a cylindrical coordinate system.

15. Robots by type Classification of industrial robots by mechanical structure
Spherical robot Robot whose axes form a polar coordinate system.

16. Robots by type Classification of industrial robots by mechanical structure
SCARA robot Robot which has two parallel rotary joints to provide compliance in a plane.

17. Robots by type Classification of industrial robots by mechanical structure
Articulated robot Robot whose arm has at least three rotary joints.

18. Robots by type Classification of industrial robots by mechanical structure
Parallel robot Robot whose arms have concurrent prismatic or rotary joints.

19. Robot Applications
welding and assembly

20. Robot Applications
welding and assembly

21. Robot Applications
Packaging / palletizing

22. Robot Applications
Medical: Prosthetic (bionic) limbs

23. Robot Applications
Military and Police

24. Robot Applications
Office & Hospital

25. Robot Applications
Ocean Exploration

26. Robot Applications
Space Applications

27. Robot Applications
Space Applications

28. Robot Applications
Toys

29. Uses for Robots
In 1995 about 700,000 robots were operating in the industrialized world.
Over 500,000 were used in Japan, about 120,000 in Western Europe, and about 60,000 in the United States.
General Motors Corporation uses approximately 16,000 robots for tasks such as spot welding, painting, machine loading, parts transfer, and assembly.
Assembly is one of the fastest growing industrial applications of robotics.

30. Impact of Robots
Robots can cause the loss of unskilled jobs, particularly on assembly lines in factories.
New jobs are created in software and sensor development, in robot installation and maintenance, and in the conversion of old factories and the design of new ones.
These new jobs require higher levels of skill and training.
Technologically oriented societies must face the task of retraining workers who lose jobs to automation, providing them with new skills so that they can be employable in the industries of the 21st century.

31. Future Technologies
Automated machines will increasingly assist humans in the manufacture of new products, the maintenance of the world's infrastructure, and the care of homes and businesses.
Robots will be able to make new highways, construct steel frameworks of buildings, clean underground pipelines, and mow lawns.

32. Future Technologies
One important trend is the development of micro-electromechanical systems, ranging in size from centimeters to millimeters.
These tiny robots may be used to move through blood vessels to deliver medicine or clean arterial blockages.
They also may work inside large machines to diagnose impending mechanical problems.

33. Future Technologies
Perhaps the most dramatic changes in future robots will arise from their increasing ability to reason.
The field of artificial intelligence is moving rapidly from university laboratories to practical application in industry, and machines are being developed that can perform cognitive tasks, such as strategic planning and learning from experience.
Increasingly, diagnosis of failures in aircraft or satellites, the management of a battlefield, or the control of a large factory will be performed by intelligent computers.