JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B.Tech IV Year ROBOTICS Previous Question Paper (October/November - 2020 - R16)

Robot configuration refers to the physical arrangement of the links and joints that determine the robot's workspace and movement capabilities. The configuration is primarily defined by the type and sequence of joints (revolute or prismatic) used to connect the links.

The common configurations are:

1. Cartesian (PPP) Configuration: Consists of three prismatic joints oriented at right angles to each other. It provides linear motion along the X, Y, and Z axes, resulting in a rectangular workspace.
2. Cylindrical (RPP) Configuration: Comprises one revolute joint at the base followed by two prismatic joints. The workspace is cylindrical, defined by rotation around the vertical axis and linear movement in radial and vertical directions.
3. Spherical/Polar (RRP) Configuration: Uses two revolute joints and one prismatic joint. The arm can rotate about the base and shoulder, with a prismatic joint extending the reach, creating a spherical workspace.
4. SCARA (RRP) Configuration: Features two parallel revolute joints for planar positioning and a third prismatic joint for vertical movement. It is highly rigid in the vertical direction and compliant in the horizontal plane.
5. Articulated/Anthropomorphic (RRR) Configuration: Mimics the human arm with three revolute joints (waist, shoulder, and elbow). This configuration offers the highest dexterity and a large, complex workspace.

Sketch Description: Imagine a coordinate system where the Cartesian robot moves along three perpendicular linear axes. A Cylindrical robot features a rotating base with a sliding arm. A Spherical robot includes a base rotation, a pivot joint for elevation, and a telescoping arm. An Articulated robot is represented by three segments connected by joints resembling a human shoulder and elbow, allowing for reaching around obstacles.

Automation is the technology by which a process or procedure is performed with minimal human assistance. It involves the integration of mechanical, electronic, and computer-based systems to operate equipment, perform tasks, or control processes automatically. Automation aims to increase productivity, improve quality, ensure consistency, and enhance safety in manufacturing and service sectors.

There are three primary types of automation:

• Fixed Automation: Also known as hard automation, this involves the use of specialized equipment to automate a fixed sequence of processing or assembly operations. The sequence is determined by the equipment configuration and is difficult to change. It is characterized by high initial investment, high production rates, and low unit costs. Example: Transfer lines in automotive engine production or automated assembly machines for light bulbs.
• Programmable Automation: This type uses equipment designed to accommodate changes in the product configuration. The sequence of operations is controlled by a program, which can be modified to produce different products. It is ideal for batch production where the product design changes periodically. Example: Industrial robots, numerically controlled (NC) machine tools, and programmable logic controllers (PLCs).
• Flexible Automation: This is an extension of programmable automation that minimizes the downtime required for reprogramming and changing over the physical setup. It allows for the production of a variety of parts with virtually no time lost for changing the setup from one product to the next. It is highly versatile and capable of producing different products simultaneously or in mixed batches. Example: Flexible Manufacturing Systems (FMS) consisting of multiple CNC machines linked by an automated material handling system and controlled by a central computer.