Introduction to robotics

INTRODUCTION TO ROBOTICS

DEFINATION OF ROBOTICS

USES AND APPLICATIONS OF ROBOTICS

COMPONENTS OF ROBOT

LOCOMOTION

DEFINATIONRobotics is the branch of technology that deals with the design, construction, operation, and application of robots .

The word ROBOTICS is used to collectively define a field in engineering that covers the mimicking of various Human characteristics.

It is the application of electronics, mechanical, electrical and computer engineering.

Laws of Robotics

Isaac Asimov proposed three “Laws of Robotics” and later added the “ zeroth law ”.

Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm.

Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law.

Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law.

Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law.

Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rassum’s Universal Robots (RUR).

Robot in Czech is a word for worker or servant.

In 1980s the robot industry entered a phase of rapid growth. Many institutions introducedprograms and courses in robotics. Roboticscourses were spread across mechanical engineering, electrical engineering, electronics engineering and computer science departments.

Uses of Robotics:

AgricultureAutomobileConstructionEntertainmentHealth care: hospitals, patient-care, surgery , research, etc.Household purposesLaboratories: science, engineering , etc.Law en forcement : surveillance, air port Security, spying, etc.ManufacturingMilitary: demining, surveillance, attack, etc.Mining, excavation and explorationTransportation: air, ground, rail, space, etc.Utilities: gas, water and electricityWarehouses

Uses of Robotics:

Industrial Applications

•Material handling•Material transfer•Machine loading andunloading•Spot welding•Continuous arc welding•Spray coating•Assembly•Inspection

Uses of Robotics:

Robots in Hazardous Environments

Photo: TROV in Antarcticaoperating under water

Photo: HAZBOT operating in atmospheres containingcombustible gases

Photo: Robot used in explosive mines

Uses of Robotics:

Research and Space Exploration

Uses of Robotics:

Military

SPLIT STRIKE:Deployed from asub’s hull, Mantacould dispatch tinymine-seeking AUVsor engage in moreexplosive combat.

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Uses of Robotics:

Household Purposes

Photo: Robotic Vacuum Cleaner Photo: Garbage

Collector

Photo: The SCRUBMATE Robot

Uses of Robotics:

Others

VIDEO ABOUT TYPES OF ROBOTS

C:\Users\Shishir\Desktop\TypesofRobot.avi

Components of ROBOTS

Power Supply

Sensors

Controller

Effectors

Actuators

POWER SUPPLY

Suitable power supply is needed to run the motors and associated circuitry.

Typical power requirement ranges from 3V to 24V DC.

Power supply must be adjusted as per the ratings of the components.

Power supply must be regulated using voltage regulator and current regulator ICs.

POWER SUPPLY

Rechargeable 12V Battery

LM317 Current Regulator IC with Heat Sink

LM7805 Voltage Regulator IC

SENSORS

Sensors are used to collect the information about an event, condition or the environment and send it to the controller.

Sensors convert the physical properties into the electronic signal.

Different kinds of sensors can be used depending upon the physical properties to be sensed and the function of robot.

Physical Property Technology

Contact Bump, SwitchDistance Ultrasound, Radar, Infra RedLight Level Photo Cells, Cameras, LDRsSound Level MicrophonesStrain Strain GaugesRotation EncodersMagnetism CompassesSmell ChemicalsTemperature Thermistors, Infra RedInclination Inclinometers, GyroscopePressure Pressure GaugesAltitude Altimeters

SENSORS

SENSORSContact or Touch Sensors

Switch

Bump Switch

SENSORSLight Sensors

LDR

Photo Cell

IR sensors

SENSORSProximity Sensors

Infrared Ranging Sensor

SENSORSVision Sensors

In-Sight Vision Sensors

SENSORSTilt Sensors

To balance the robot.

CONTROLLERController provides the necessary intelligence to control the action of the robot.

It receives the information from the sensors and activates the actuators to perform the task.

It comprises complex electronics circuit.

Micro Controllers are used in Automatic Robots whereas different electronic switching components are used in Manual Robots.

The set of instructions is written in High Level Language, compiled and converted into Machine Code(HEX code) and burnt in the Micro Controller with the help of Computer Software .

CONTROLLER

Micro Controller

Micro Controller Burner

EFFECTORS

Effectors are the parts of a Robot which execute the certain task.

Effectors pick up or modify objects or somehow cause an effect to the environment.

Examples: Mechanical grippers, Vacuum Grippers, Wheels, etc.

ACTUATORS

Actuator is the actual mechanism that enables the effectors to execute an action.

Actuators typically include electric motors, hydraulic or pneumatic cylinders, gears, etc.

Gears

Pneumatic Cylinder

Pneumatic Motor

• DC MotorsoAs the name

suggests, a motor which uses a DC (Direct Current) power

oCan run in both directions

oSpeed Controllable

• Stepper Motorso Used for measured

rotationo Can be held at a

particular position of the shaft

o Ideal for many autonomous robots requiring higher precision

• Servo Motors :o Used in closed loop

control systems in which work is the control variable.

o An integral feedback device (resolver) or devices (encoder and tachometer) are either incorporated within the servo motor or are remotely mounted, often on the load itself

• Wiper Motors :o This type of motor is

called a "gear head" or "gear motor" and has the advantage of having high torque.

o It draws more current than other motors.

o The speed of motor is controllable.

Wiper Motors

RPM Current draw** + power supply - power supply

41 0.9 amps Low speed Common

70 1.6 amps High speed Common

106 4.0 amps High speed Low speed

**No load current. These numbers will increase as the mechanical load increases.

LOCOMOTION

• It is concerned with the motion of the robot.

• Robot contains different types of drives:

o Differential driveo Car typeo Skid steer driveo Synchronous driveo Pivot driveo Articulated drive

DRIVE WHEELS DRIVE WHEELS DRIVE WHEELS DRIVE WHEELS

NON DRIVEN WHEELNON DRIVEN WHEEL NON DRIVEN WHEEL NON DRIVEN WHEEL

DIFFERENTIAL DRIVE

30

STEERING WHEELS STEERING WHEELS

DRIVE WHEELS DRIVE WHEELS

ACKERMAN DRIVE

DRIVRN FORWARD

DRIVEN REVERSE

SKID STEER DRIVE

SYNCHRONOUS DRIVE

DRIVE SHAFTROTATING PLATFORM

LOWERED PLATFORM

PIVOT DRIVE

Pivot

Linear Actuator

Articulated Drive

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