Lecture Number in robots.......... 1.pdf
- 1. 1 Robot Systems Lecture No.1 Introduction Dr. Roshdy Abo-Shanab & Dr. Taher Atia
- 2. 2 Course Objectives The course provides the students with the fundamental knowledge needed for understanding the kinematics, dynamics, synthesis, and Control of robotic systems. Dr. Roshdy Abo-Shanab & Dr. Taher Atia
- 3. Course goals Upon completion of the course, the student will be able to: • Understand the different classifications of robot manipulators. • Understand the forward kinematics problem and inverse kinematics problem of robot manipulators. • Formulate the Jacobian of robot manipulator and understand its importance in robot kinematics and dynamics analysis. • Formulate the dynamic equations of manipulators. • Understand the different method used to control robot manipulators. • Solve problems related to engineering profession applications in robotics. 3 Dr. Roshdy Abo-Shanab & Dr. Taher Atia
- 4. 4 Textbook Lung – Wen Tsai “Robot Analysis: The mechanics of serial and parallel manipulators” John Wiley & Sons, Inc., 1999. John Craig “Introduction to Robotics: Mechanics and Control” 3th edition, Prentice-Hall, 2005.
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- 7. Course Topics • Introduction (Ch. 1 Tsai). • Degree of freedom, (Mobility), D.O.F • Forward and Inverse Kinematics • Position Analysis of Serial Manipulators (Ch. 2 Tsai). • Position Analysis of Parallel Manipulators (Ch. 3 Tsai). • Jacobian Analysis of Serial Manipulators (Ch. 4 Tsai). • Jacobian Analysis of Serial Manipulators (Ch. 5 Tsai). • Statics and Stiffness Analysis (Ch. 6 Tsai). • Trajectory generation (Ch. 7 Craig). 7 Dr. Roshdy Abo-Shanab & Dr. Taher Atia
- 8. Course Assessment Midterm +Project +Attendance 35 Final Examination 90 Total 125 8 Dr. Roshdy Abo-Shanab & Dr. Taher Atia
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- 30. 30 Manipulator design and sensors
- 32. 32 Robots may be classified according to various criteria such as • Drive technologies • Work envelope geometries • Motion control method • Redundant and non-redundant manipulators ROBOT CLASSIFICATION
- 33. 33 Drive Technologies • Hydraulics Actuators • Pneumatic Actuators • Electrical Actuators • Artificial Muscles
- 34. 34 Hydraulic Power Hydraulic Power Drive Method is used in high-speed manipulation of large loads is required.
- 35. 35 Pneumatic Power Pneumatic cylinders Path Pneumatic valve Magnetic end effector
- 36. 36 Electrical Power Most robotic manipulators today use electric drives in form of either DC servomotors or DC stepper motors
- 37. 37 Work-Envelope Geometries Types of robot joints Description Symbol Notation Type Rotary motion about an axis R Revolute Linear motion along an axis P Prismatic
- 42. 42 4- SCARA Robot (RRP) * SCARA (Selective Compliance Assembly Robot Arm)
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- 45. 45 5- Articulated Robot (RRR)
- 46. 46 3- Motion Control Methods Motion control is the method which used to move the tool or the end effector There is two methods of movement . • Point to point • Continuous path
- 47. 47 Point to point Point-to-point motion is useful for operation which are discrete in nature as • Spot welding • Pick-and-place • Loading and unloading
- 48. 48 Continuous path Here the end-effector must follow a prescribed path in three dimensional space and the speed of motion along the path may be vary. Application: • Spray painting • Arc welding • Gluing
- 49. 49 Degree of Freedom The mobility (number of degrees of freedom DoF of a linkage) is the minimum number of independent coordinates needed to specify the positions of all members of the mechanism relative to a particular member chosen as the base or frame. Planar Mechanisms: Total mobility = 3(n-1), one link is fixed (frame) Dr. Roshdy Abo-Shanab & Dr. Taher Atia
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- 55. 55 Example Determine the mobility of the linkage shown in the figure. 4 = n 4 = j = = = j i i f 1 4 1 4 ( ) = + − − = j i i f j n DoF 1 1 3 ( ) 4 1 4 4 3 + − − = DoF 1 = DoF
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- 58. 58 Example Determine the mobility of the linkage shown in the figure.
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- 62. 62 Passive degrees of freedom
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- 64. 64 Number of independent loops refers to the total number of loops excluding the external loop. Loop Mobility Criterion 𝐿 = 𝑗 − 𝑛 + 1 Note that for a single loop mechanisms 𝑛 = 𝑗 The number of loop closure equations that can be established for a mechanism is equal to the number of independent loops in the mechanism.
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