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