Robotics Lecture 2014.01

7/26/2019 Robotics Lecture 2014.01

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ROBOTICS

and SENSOR TECHNOLOGY

Fernando Victor V. de Vera

ECE, M.Tech.

Course Details

ECN 516 (Lectre!" 3 #nit$ECN 517 (La%orator&!" 1 #nit'rerei$ite$"Micro)roce$$or (Lec, La%!

*eired (*e+ated! no-+ede

E+ectronic &$te e$inContro+ &$te$Mechanic$ (tatic$, &naic$, trenth o Materia+$!Co)ter 'rorain

'o-er &$te$

Course DescriptionThi$ $%ect dea+$ -ith the $td& o ro%ot$,

inc+din %t not +iited to it$ hi$tor&, %a$icro%otic conce)t$, $en$or$, ana+&$i$ and de$in.


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Course Outline

ntrodction and the i$tor& o *o%otic$a$ic Machine$ and Mechani$$*eie- o Conce)t$ in E+ectronic$*o%ot e$in*o%otic en$or$Vi$a+8ditor&Tacta+9+actor&

en$or ina+ Conditionin

Course Outline (Contd)

*o%ot Contro+ and Contro++er &$te$Micro)roce$$orCo)terart)hone

*o%ot Conication$

:ired ('ara++e+ and eria+ 'ort$, #!*adio (+etooth, :iFi, etc!

*o%ot 8ctator$C Motor$, te))er Motor$,

Course Outline (Contd)*o%ot Mo%i+it&:hee+$

ierentia+ rie For;:hee+ rie

:a+


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Course Outline (Contd)

8rtiicia+ nte++ienceTrend$ in *o%otic$nd$tr& (Manactrin, Medicine, Edcation,

etc.!

Mi+itar&

*e$earch

)ace

9ther To)ic$

References

8n& *o%otic$ Enineerin %oo


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Mechatronics

>a$a


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Ke !le"ents in Mechatronics

The $td& o echatronic $&$te$ can %ediided into the o++o-in area$ o $)ecia+t&"1. 'h&$ica+ &$te$ Mode+in

2. en$or$ and 8ctator$

3. ina+$ and &$te$

4. Co)ter$ and Loic &$te$

5. ot-are and ata 8ci$ition

Ke !le"ents in Mechatronics

Cate#ories of

Mechantronics $roducts& Da)an ociet& or the 'rootion o Machine nd$tr&(D'M! in the 1?70$"

C+a$$ "'riari+& echanica+ )rodct$ -ith e+ectronic$

incor)orated to enhance nctiona+it&. E=a)+e$ inc+denerica++& contro++ed achine too+$ and aria%+e $)eeddrie$ in anactrin achine$.

C+a$$ "Traditiona+ echanica+ $&$te$ -ith $iniicant+& )dated

interna+ deice$ incor)oratin e+ectronic$. The e=terna+$er interace$ are na+tered. E=a)+e$ inc+de theodern $e-in achine and atoated anactrin$&$te$.


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Cate#ories ofMechantronics $roducts

& Da)an ociet& or the 'rootion o Machinend$tr& (D'M! in the 1?70$"C+a$$ "&$te$ that retain the nctiona+it& o the traditiona+

echanica+ $&$te, %t the interna+ echani$$ arere)+aced %& e+ectronic$. 8n e=a)+e i$ the diita+-atch.

C+a$$ V"'rodct$ de$ined -ith echanica+ and e+ectronic

techno+oie$ throh $&neri$tic interation. E=a)+e$inc+de )hotoco)ier$, inte++ient -a$her$ and dr&er$,rice coo


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Ro%otics

*o%otic$ i$ the $cience andtechno+o& o ro%ot$, their de$in,anactre, and a))+ication.*o%otic$ reire$ a -or


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Other Definitions

8ccordin to the !ncclopaedia Britannica aro%ot i$an& atoatica++& o)erated achine that re)+ace$

han eort, thoh it a& not re$e%+e han%ein$ in a))earance or )eror nction$ in ahan+i


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Karel ,ape-(.anuar /0 12/3 4 Dece"%er 560 1/72)

8 CBech -riter o the ear+&20th centr& %e$t


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Isaac *si"o9

Coined the ter @ro%otic$A

Sste"s Close To Ro%otics But NotClassified *s Ro%ots=

$rosthesesO artiicia+re)+aceent or )art$o the han %ein.

!>os-eletonsO rae$-hich $rrondedhan +i%$, or eenthe -ho+e hanrae.

TelechericsO reoteani)+ator$.

oco"oti9e De9icesOiitate$ an or ania+$%& -a+


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!arl De9elop"ents

!arl De9elop"ents

urther De9elop"ents


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urther De9elop"ents ; ;

urther De9elop"ents ; ; ;

urther De9elop"ents ; ; ; ;


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urther De9elop"ents ; ; ; ; ;

urther De9elop"ents ; ; ; ; ; ;

irst Co""ercial Ro%ot8ter the 1?50P$ the ir$t

coercia+ ro%otnic


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Classifications of Ro%ots (1)

D*8 O Da)ane$e nd$tria+ *o%ot 8$$ociation*8 O *o%otic$ n$titte o 8erica

C+a$$ 1" Mana+ and+in eiceC+a$$2" Fi=ed;eence *o%otC+a$$3" Varia%+e eence *o%otC+a$$4" '+a&%ac< *o%otC+a$$5" Nerica+ Contro+ *o%otC+a$$6" nte++ient *o%ot

Classifications of Ro%ots (5)

8F*" The 8$$ociation Francai$e de *o%otie

T&)e 8" and+in eice$ -ith ana+ contro+

T&)e " 8toatic and+in eice$ -ith)redeterined c&c+e$

T&)e C" 'roraa%+e, $ero contro++ed ro%ot$T&)e " T&)e C -ith interactie -ith the

enironent

*pplications'art$ hand+in8$$e%+&'aintinrei++anceecrit& (%o% di$)o$a+

O rea++& i$ te+echeric$rather than ro%otic$!oe he+) (ra$$

cttin, nr$in!EtcQ


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Basic Co"ponents of a Ro%ot

1; Manipulators5; !nd !ffector (?ripper)

7; Controller

@; $o8er Suppl

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Manipulator

the Aar" of thero%ot; Made up oflin-s connected %oints

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Controllertore$ re)roraed inoration or +ater reca++,

contro+$ )eri)hera+ deice$, and conicate$-ith the co)ter$ -ithin the )+ant or con$tant)date$ in )rodction.E=a)+e$"Co)terMicrocontro++er$Micro)roce$$or$

'LC

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!nd !ffector (?ripper)

* specialied de9icethat is use forhandlin# a fe8 o%ectsthat has si"ilarcharacteristics in arepetiti9e operation

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$o8er Suppl

The unit that supplies the po8er to thecontroller and the "anipulator;

TE$!S=


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$neu"atic

're$$riBed air i$ $))+ied throh +ine$ oc&+inder. Thi$ i$ the +ea$t e=)en$ie o the threedrie $&$te$. There i$ a +iitation o theaont o )neatic )o-er that can %econerted to +itin )o-er.

'a&+oad" 3 O 4.5


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Classification % 'or-space?eo"etr

R!*C


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Clindrical Ro%ot either the 1$t or the 2nd oint o a carte$ian ro%ot i$

re)+aced %& a reo+te oint.

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Spherical Ro%ot the 1$t t-o oint$ are ade ) o t-o inter$ectin

reo+te oint$ and the 3rd i$ a )ri$atic oint.

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Classification % 'or-space

?eo"etr *rticulated Ro%ot

a++ three oint$ are reo+te.

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SC*R* Ro%ote+ectie Co)+iance 8$$e%+& *o%ot 8r or

e+ectie Co)+iance 8rtic+ated *o%ot 8r8 4;a=i$ ro%ot

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Classification % MotionCharacteristics

$lanar Motion i a++ the )artic+e$ in the %od& de$cri%e$ otion in

)+ane.

Spherical Motion i a++ the )artic+e$ in the %od& de$cri%e cre$

that +ie on concentric $)here$.

Spatial Motion i it cannot %e characteriBed a$ )+anar or

$)herica+ otion.

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Robotics Lecture 2014.01

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