2. First Session
Make a move to make it move

3. Discussion
 Time.
Absence.
Communication.
Students.

4. Game

5. Robot Evolution
Video
http://www.youtube.com/watch?v=YSdKPxrY_gw

6. Robots

7. Robots

8. Robots

9. Robot & Structure

10. Robot & Structure
Robot
Motion
Actuator
Control System
Power
Source
Load
Mechanical
equations
Power
transmission

11. Types of motion
• Pure Rotational.
• Pure Translational.
• Complex motion

12. Control Systems

13. Control system
Fluid power
control
Hydraulic
system
Electrical
power control
Pneumatic
system

14. Electrical System
 Solenoids
 Motors

15. Solenoids

22. Motors
1. DC motor

23. Motors
1. DC motor
work principle
Lorentz force

24. Motors
2. Stepper Motor.

25. Motors
3. Servo Motor

28. Applications
DC Motor
 Servo Motor

29. Applications
Stepper Motor
DC Motor

30. Applications
 Servo Motor

32. Power transmission Elements
Gears.
Belts.

33. Chains

35. Gears
 Spur Gear

37.  Worm and Worm Wheel.

39.  Planetary Gear

40.  Rack and Pinion.

41. Straight Bevel

42. Main Advantages
•Reliable performance over a
wide range of loads and
speeds.
•Small size and compactness.
•Long service life.
•High efficiency (96to99%).

43. Main Disadvantages
•Short center distance
between the two shafts
•Change the rotation
angle between the input
and output.

44. Up

45. Belts
 Flat belt
•Friction.
•light-weight drive
belts that can handle
high speeds.
•Substantial Tension.

46. Belts
 V-Belt.
•suitable for connecting
shafts that are close
together.
•Less tension than flat belt.

47.  Timing Belt

49. Chain and sprocket

50. Break


51. We need Five victims

52. Mechanical
Analysis
Static analysis
Dynamic analysis

53. Static analysis
Reactions
Internal Stresses
Deflection

54. Dynamic analysis
Kinematics
Kinetics
Position
Forces
Velocity
Moments
Acceleration

55. Types of motion
• Pure Rotational.
• Pure Translational.

56. Complex Motion

57. Robot main components
Links
Joints
Actuators
Gripper
Ground
•
•
•
•
•

58. Types of Links

59. Types of Links (Cont.)

60. 4 bar mechanism

61. Crank Slider Mechanism

62. Quick return mechanism

63. Cams and followers as links

64. Gears as links “ dependent links”

65. Gear Train

66. Compound gear

67. Joints

68. Joints Classification
According to.
Geometry
Revolute
Helix.
Order of Pairs
Prismatic,..
3D
2D

69. Revolute joints

70. Slider and half joints

71. Terminologies
•
•
•
•
•
Link.
Chain.
Mechanism.
Machine.
Robot.