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Fourth Session
Make a move to make it move
من تحقرن المعروفالشيئا
بوجه أخاك تلقى أن لو وطليق.
. للناس عيش
Video
One & One
Design processes
1) Identify the need2) Background research3) Goal statement4) Performance specifications5) Ideation and invention
6) Analysis 7) Selection 8) Detailed design9) Prototyping and testing10) Production
Identify the need
• This step done for you by someone.•Brief and lacking in detail.
Background research
Don’t reinvent the wheel
Performance specifications
Define what it must do, not how it must do it.
Performance specifications Design specifications
Performance specifications
The enemy of design is the absence of specifications.
Ideation and invention
A. Idea generation.B. FrustrationC. IncubationD. Eureka !!
Let’s play
Ideation and invention
A. Idea generation.B. FrustrationC. IncubationD. Eureka !!
a) Idea generationBrainstorming• Quantity not Quality.• Superficial ridiculous ideas
are welcomed.• Ridicule is not allowed.
Analogies are useful when working alone.
slide
pull
jump
throw
move
b) Frustration
c) Incubation
Saturate yourself in the problem and background , relax! and let you subconscious do the hard work.
d) Eureka !!
If it didn’t happen , you have to do more ideation, redefinition or may be more research.
Analysis
Selection
Detailed design
CADmaterial chemicalelectricity .. etc
Prototypes and testing
Design processes
1) Identify the need2) Background research3) Goal statement4) Performance specifications5) Ideation and invention
6) Analysis 7) Selection 8) Detailed design9) Prototyping and testing10) Production
Production
Agenda
• Kinematics of Robotic arms with linear actuators:• Position analysis.• Velocity analysis.• Acceleration analysis.
• Kinetics of robotic arms with linear actuators:• Calculating motors torque.• Calculating cylinders pressure.
Actuators Classification according to the type of motion:• Rotary:• Electric motors (DC, Stepper, Servo.)• Hydraulic or Pneumatic rotary motors !!!
• Linear:• Electric solenoids.• Hydraulic cylinders.• Pneumatic Cylinders.
Span Constraint
Geometry
Reverse analysis
Adding linear actuators to the analysis
• Compressed length: S1, S2, S3.• Extension in cylinders: ΔS1, ΔS2, ΔS3.
Dynamic Analysis• Free Body Diagram.• Links Equations.• Governing Equations Matrix.• Links CG & Inertia.• Angular speed & Acceleration
Links Design Considerations
• Avoid Cantilever joints.• Account for radial load.• Less weight.• Grounding & Balancing.• Links rigidity.• Assembly & Disassembly.
Motor Driven Gripper
Practice