Robotics and actuaters
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Robotics and actuaters

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Robotics and actuaters Robotics and actuaters Presentation Transcript

  • ROBOTICS LECTURE SERIES By-Kuldeep Uttam
  • Basic parts of a robot Chassis – To provide a frame for the robot Motors – Locomotion Sensors – To interact with the surrounding Microcontroller- Brain of the robot Other Circuits –Motor Drivers etc. Batteries
  • Wheeled Locomotion Systems Differential drive Car type drive Skid steer drive Synchronous drive Pivot drive Omni drive 3 wheel drive
  • Steering Using a guiding wheel to steer the bot Generally used in three wheel drive Not effective to take a very sharp turn
  • Differential Drive simplest and easiest to implement It has a free moving wheel in the front accompanied with a left and right wheel. The two wheels are separately powered generating a couple Independent drives makes it difficult for straight line motion
  • Car Type Drive It is characterized by a pair of driving wheels and a separate pair of steering wheels this system faces severe path planning problem The turning mechanism must be accurately controlled. A slight inaccuracy may cause large odometry errors
  • Skid Steer Drive It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots The left and right wheels are driven independently Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground
  • Synchronous Drive It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion
  • Pivot Drive It is composed of a four wheeled chassis and a platform that can be raised or lowered
  • CASTERWHEELS OMNIDIRECTION AL WHEELS
  • Continuous DC Motors • High power to weight ratio • No inbuilt control mechanism • Control system requires feedbackUsing gears, the high speed of the motor istraded off into torque Control system require h bridge or encoder
  • Stepper Motor•angle control•slow•usually no feedback used•accurate positioning•easy to control
  • SERVOSServos are DC motors with built in gearing and feedback controlloop circuitry. And no motor drivers required!Servo WiringAll servos have three wires:Black or Brown is for ground.Red is for power (~4.8-6V).Yellow, Orange, or White is the signal wire (3-5V).