Introduction to Robotics (Enhancement Course).pptx

Introduction to the world of robotics

1. Introduction to Robotics CPE EC 1

2. First use of the Word Robotics Science fiction served as the inspiration for the discipline of robotics. The English translation of a fantasy play composed in Czechoslovakia in 1920 is where the term "robot" originated. Before industrial robots became a modern field, another forty years passed. Currently, robots are mechanical manipulators that are highly automated and managed by computers. Science fiction served as the inspiration for the discipline of robotics. The English translation of a fantasy play composed in Czechoslovakia in 1920 is where the term "robot" originated. Before industrial robots became a modern field, another forty years passed. Currently, robots are mechanical manipulators that are highly automated and managed by computers. The word robot was introduced to the public by Czech writer Karel Capek (1890 – 1938) in his play R.U.R (Rossum’s Universal Robots), publish in 1920. The play begins in a factory that makes artificial people called robots. Capek was reportedly several times a candidate for the Nobel Prize for his work.

3. First use of the Word Robotics (ii) Science fiction served as the inspiration for the discipline of robotics. The English translation of a fantasy play composed in Czechoslovakia in 1920 is where the term "robot" originated. Before industrial robots became a modern field, another forty years passed. Currently, robots are mechanical manipulators that are highly automated and managed by computers. The word “robotics”, used to describe this field of study, was coined accidentally by the Russian –born, American scientist and science fiction writer, Isaac Asimov (1920 – 1992) in 1940s.

4. What is Robotics? Applied Engineering Science Combination of Machine Tool Technology and Computer science Its include the ff: Machine Design Production Theory Micro Electronics Computer Programming Artificial Intelligence (Machine learning Included)

5. In other mean… Person that studies Robot. In short…

6. The First Robot “ UNIMATE ”

7. UNIMATE the First Robot

8. Robotics Terminology

9. Work Envelope, Work space or Reach Range of Motion (mm) The set of points representing the maximum extent or reach of the robot hand or working tool in all directions. Also referred to as the working envelope or robot operation envelope.

10. Payload Weight carrying capacity (Kg) The maximum total weight that can be applied to the end of the robot arm without a sacrifice of any of the applicable published specifications of the robot.

11. Cycle Time or Speed Execution time for one task

12. Torque/ Inertia Force and Torque Sensors and their use in Robotic Manipulation. Force is an influence that can change the motion of an object.  Torque is the rotational equivalent of linear force . The world is subject to motion and control; every applied force has a certain output or result.

13. Degree of Freedom / Axis One of a limited number of ways in which robot join may move.

14. Repeatability Ability of the robot to return to a preprogrammed position. Closeness of agreement of repeated position movements under the same conditions to the same location.

15. Accuracy refers to  the capacity of a robot to place its wrist end within the work volume at the desired target point .

16. Repeatability & Accuracy

17. End Effector An end effector is  a peripheral device that attaches to a robot's wrist, allowing the robot to interact with its task . Most end effectors are mechanical or electromechanical and serve as grippers, process tools, or sensors.

18. Genealogy of robotics mechanical System T he study of family origins and history of mechanical System of Robotics

19. Genealogy of robotics mechanical System

20. General Architecture of a robotic mechanical System

21. General Architecture of a robotic mechanical System

22. Types of Robot by Function

23. 1. Manipulators Robot manipulators are  robotic systems designed to perform physical manipulation tasks , such as lifting, moving and placing objects in different industrial environments without the need for direct contact by an operator. Robotics Arm Robotics Hand

24. 4 Aspect of Manipulators

25. Classification by Motion Coordinate Type Rectangular Coordinate Manipulator The three directions of the rectangular coordinate axes (x, y, and Z) are possible for the arm to travel in. To put it another way, the arm can be raised and lowered, moved left and right, and retracted back and forth (all of which are decided to move along the X direction) (determined to move along the Z direction).

26. Classification by Motion Coordinate Type Cylindrical Coordinate Manipulators The arm can move along the X and Z directions of the rectangular coordinate axis and rotate around the Z axis. That is, the arm can be retracted back and forth, lifted up and down, and rotated left and right.

27. Classification by Motion Coordinate Type Spherical Coordinate Manipulators The arm can move along the X direction of the rectangular coordinate axis and rotate around the Y and Z axes. That is, the arm can be retracted back and forth (moving in the X direction), swing up and down (set to swing around the Y axis) and rotate left and right (still set to rotate around the Z axis).

28. Classification by Motion Coordinate Type Multi-joint Coordinate Manipulators The arm of this manipulator can be divided into small arm and large arm. The connection between the forearm and the boom (elbow) and the connection between the boom and the body (shoulder) are joint (hinge) connections. That is, the forearm can swing up and down around the elbow, the forearm can swing multi angle around the shoulder, and the arm can also rotate left and right.

29. Classification by Scope of Use Special Manipulators Universal Manipulators Generally, the special manipulator has only a fixed program without a separate control system. It is subordinate to a machine or production line, which is used to automatically transfer objects or operate a tool. This refers to a control system with variable programs and separate drives. It is not subordinate to a certain machine and can automatically complete the transfer of objects or operate some mechanical devices. General manipulators can be divided into two types: simple type and servo type according to their different positioning and control methods. The simple type is only point control, so it belongs to the program control type. Servo type can be point control or continuous trajectory control, generally belonging to digital control type.

30. Classification by Driving Mode - Hydraulic driven manipulator: driven by pressure oil. - Pneumatic driven manipulator: driven by compressed air. - Electric drive manipulator: directly driven by an electric motor. - Mechanical drive manipulator: it is a driving method that transmits the power of the host to the manipulator through cams, connecting rods, gears, intermittent mechanisms, etc.

31. Classification by the Strength The force of micro manipulator is less than 1kg The force of small manipulator is 1-10 kg The force of medium-sized manipulator is 10-30 kg The force of large manipulator is greater than 30kg

32. 2. Locomotive Robot locomotion is  the collective name for the various methods that robots use to transport themselves from place to place . Wheeled Robot Legged Robot Slithered Robot Hover Robot

33. 3. Aerial S ystem capable of sustained flight with no direct human control and able to perform a specific task , leads us almost immediately to the Hewitt–Sperry automatic airplane, developed before and during World War I  Drone Aircraft Winged

34. 4. Swimming Swimming robot indicates  robots that swim above water or underwater , in which these robots can achieve two-dimensional motion by moving above the water that only include two degrees of freedom (2 DOF), or achieving three-dimensional motion by moving underwater, diving inside water with this motion includes 3 DOF

35. 5. Motion Generator There are three primary types of moves that a robot system uses to navigate around the physical world:  linear, joint, and circular moves . While the goal of all those moves is the same—moving from point A to point B—the path that the robot takes along the way is the major determining factor for each move type.

36. Types of Robot by Size Macro Robot Micro Robot