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Module 1 : Introduction to robotics

Lecture 3 : Industrial Manipulators & AGVs

	History of robots :
	1954- Devol & Engleburger – establish Unimation Incorporation.
	1961- Robots are used in die casting application.
	1968- AGVs (automated guided vehicles) implemented.
	1970- Stanford arm developed.
	1979- SCARA robot for assembly developed in Japan .

	Main bodies and wrists
	Fig. 3.1.1 shows a typical industrial robot with a main body and a wrist.

	Figure 3.1.1 .	Figure 3.1.1 shows PUMA robot (the manipulator). A total of 6 variables are required, for specifying the position and orientation of a rigid body in space. Therefore PUMA has 6 axis of rotation with 1 DOF (degree of freedom) per axis. The functioning of this robot is like a human arm. Each DOF has an actuator for motion.