Robotics and actuaters

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Robotics and actuaters

  1. 1. ROBOTICS LECTURE SERIES By-Kuldeep Uttam
  2. 2. 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
  3. 3. Wheeled Locomotion Systems Differential drive Car type drive Skid steer drive Synchronous drive Pivot drive Omni drive 3 wheel drive
  4. 4. Steering Using a guiding wheel to steer the bot Generally used in three wheel drive Not effective to take a very sharp turn
  5. 5. 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
  6. 6. 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
  7. 7. 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
  8. 8. 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
  9. 9. Pivot Drive It is composed of a four wheeled chassis and a platform that can be raised or lowered
  10. 10. CASTERWHEELS OMNIDIRECTION AL WHEELS
  11. 11. 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
  12. 12. Stepper Motor•angle control•slow•usually no feedback used•accurate positioning•easy to control
  13. 13. 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).

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