Building Robots Tutorial

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Building Robots Tutorial

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Building Robots Tutorial

  1. 1. BUILDING ROBOTS-Lecture 2
  2. 2. COMPONENTS OF A ROBOT  A Robot is mainly made of four basic components. Links Actuators Sensors Controllers
  3. 3. COMPONENTS OF A ROBOT  Links typically rigid bodies  Actuators connect and move links  Sensors perceiving the world  Other endeffectors, communication, etc.
  4. 4. PROBLEMS FACED  Physical limitations  Sensor technology Actuator technology Power consumption  Design issues General structure  mobile, underwater, aerial, fullbody, torso, single arm  Interaction modality  facial expression, endeffector type Level of articulation
  5. 5. SENSOR OPTIONS
  6. 6. ROTATION SENSING  Potentiometers Variable resistors  optical encoders
  7. 7. PASSIVE OPTICAL SENSING  Light sensor  Single camera (robot color blob)  Stereo vision
  8. 8. TIME OF FLIGHT RANGING  Active emission of infrared ultrasonic light arrays Laser  Measure distance to closest obstacle by time for emission to reflect and return to sensor
  9. 9. INERTIAL MEASUREMENT  Gyroscopes angular velocity  Accelerometers gravitational vector  Magnetometers/compass magnetic field vector
  10. 10. ACTUATOR TYPES  Electro-magnetic  Hydraulic  Pneumatic  Shape memory alloys  Piezoelectric  Photo reactive  Chemical reactive
  11. 11. For more details www.pantechsolutions.net http://www.slideshare.net/pantechsolutions http://www.scribd.com/pantechsolutions http://www.youtube.com/pantechsolutions

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