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8/8/2019 Robotics Slides Electronics Workshop
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ROBOHOLIC
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WHAT IS A ROBOT???
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ROBOT
A robot is a reprogrammable, multifunctional manipulator designed tomove material, parts, tools or specialized devices through variableprogrammed motions for the performance of a variety of tasks:Robot Institute of America, 1979
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Mars Rover
WALL-E
I Robot
Terminator
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ROBOTICS
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Types ofMobile Robots
Wheeled Legged
Climbing Flying
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Components of ROBOTSoStructureoPower sourceoActuation
oSensingoManipulationoLocomotion
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Structure
The structure of a robot is usually mostlymechanical and can be called a kinematic
chain. The chain is formed of links (its bones),actuators (its muscles), and joints which canallow one or more degrees of freedom.
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Power Supply
Suitable power supply is needed to run the motorsand associated circuitry.
Typical power requirement ranges from 3V to 24VDC
220V AC supply must be modified to suit theneeds of our machine
Batteries can also be used to run robots
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ACTUATION
Actuators are the "muscles"of a robot, the parts which
convert stored energy intomovement. The most popular actuators
are electric motors.
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StepperMotor Servo MotorDC Motor
MOTORS Robots are driven by different motors :-
o DC Motorso StepperMotorso Servo Motors
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DC Motors
oAs the name suggests, a motorwhich uses a DC (DirectCurrent) power
o
Can run in both directionso Speed Controllable
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Stepper Motors
oUsed for measuredrotation
oCan be held at a
particular position of theshaft
o Ideal for manyautonomous robotsrequiring higherprecision
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Servo Motors :
o Used in closed loop controlsystems in which work is thecontrol variable.
oAn integral feedback device(resolver) or devices (encoderand tachometer) are eitherincorporated within the servomotor or are remotely
mounted, often on the loaditself
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MANIPULATION
Robots which must work in the real worldrequire some way to manipulate objects; pickup, modify, destroy, or otherwise have an effect.
Thus the 'hands' of a robot are often referred to
as end effectors, while the arm is referred to asa manipulator.
Some manipulators are:o Mechanical Gripperso Vacuum Gripperso General purpose effectors
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LOCOMOTION
It is concerned with the motion of therobot.
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Differential Drive
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BATTERIES
FREE WHEELMOTORDRIVENWHEELS
ARMWHICHROTATES INHORIZONTALPLANE
ARMWHICHROTATES INVERTICAL
PLANE
KHAFRAA 2
SOLIDWOR
KSMODEL
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MOTORDRIVENWHEELS FORFORWARDMOTION
MOTORDRIVENWHEEL FORTURNING
MOTOR DRIVEN
ROTATABLE ARM
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KHAFRAA 2 WITH PYRAMID
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KHAFRAA 2 FABRICATED MODEL
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FABRICATION
The fabrication of the parts of the robot involves: Welding: The frame of the robot is formed by welding
aluminum pipes.
Machining: The shafts of the wheels are made byturning.
Carpentry: All the woodwork in the robot constitutescarpentry.
MEL 120 workshop !!!!!!
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SOLIDWORKS
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SCREEN SHOT
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Solidworks