Robotics >modified<
- 2. OUTLINE • History. • What is robotics ? • What is a robot ? • Parts of a robot. • Robots degrees of freedom. • Robot Coordinates. • Advantages of Robots. • Disadvantages of Robots. • Application.
- 4. WHAT IS ROBOTICS ? • The study of the design ,Construction & Use of robots. • Consist of not only robots but also other devices and systems to perform the necessary tasks. , Humanoid robot Industrial robot
- 5. WHAT IS A ROBOT ? • Origin of the word “robot” • Czech word “robota”– labor, “robotnik” – workman • A machine that resembles a human being and does mechanical routine tasks on command. (Random House Dictionary ) • An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a
- 6. What are the parts of a robot? 1. Manipulator 2. Pedestal 3. Controller 4. End Effectors 5. Power Source
- 7. 1.Manipulator • Base • Appendages Shoulder Arm Grippers
- 8. 2.Pedestal (Human waist) • Supports the manipulator. • Acts as a counterbalance.
- 9. 3.Controller (The brain) • Issues instructions to the robot. • Controls peripheral devices.
- 10. 4.End Effectors (The hand) • Grippers • Spray paint attachments • Welding attachments
- 11. 5.Power Source (The food) • Electric • Pneumatic • Hydraulic
- 12. Robots degrees of freedom Degrees of Freedom : Number of independent position variables which would has to be specified to locate all parts of a mechanism. In most manipulators this is usually the number of joints.
- 13. ROBOT JOINTS Prismatic Joint: Linear, No rotation involved. (Hydraulic or pneumatic cylinder) Revolute Joint: Rotary . (electrically driven with stepper motor, servo motor)
- 14. ROBOT COORDINATES Cartesian/rectangular/gantry (3P) : 3 cylinders joint Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint Spherical (2RP) : 1 Prismatic joint and 2 revolute joint Articulated/anthropomorphic (3R) : All revolute(Human arm) Selective Compliance Assembly Robot Arm (SCARA): 2 paralleled revolute joint and 1 additional prismatic joint Fig. 1.4
- 15. ROBOT REFERENCE FRAMES Most robots may be programmed to move relative to either of these reference frames. Fig. 1.6 A robot’s World, Joint, and Tool reference frames.
- 16. ADVANTAGES OF ROBOTS Robots increase productivity, safety, efficiency, quality, and consistency of products. Robots can work in hazardous environments without the need. Robots need no environmental comfort. Robots work continuously without experiencing fatigue of problem. Robots have repeatable precision at all times. Robots can be much more accurate than human. Robots replace human workers creating economic problems. Robots can process multiple stimuli or tasks simultaneously. Disadvantages of Robots Robots lack capability to respond in emergencies. Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response. Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming.
- 17. ROBOT APPLICATION • Machine loading • Pick and place operations • Welding • Painting • Sampling • Assembly operation • Manufacturing • Surveillance • Medical applications • Assisting disabled individuals • Hazardous environments • Underwater, space, and remote locations Spot Welding Manipulator NASA space robot Medical robot
- 18. SERVICE ROBOTS
- 19. THANK YOU !