2. Fourth Session
Make a move to make it move

4. 
Video 


5. One & One

7. Design processes
1) Identify the need
6) Analysis
2) Background research
7) Selection
3) Goal statement
8) Detailed design
4) Performance specifications
9) Prototyping and testing
5) Ideation and invention
10) Production

8. Identify the need
• This step done for you by
someone.
• Brief and lacking in detail.

9. Background research

10. Don’t reinvent the wheel

11. Performance specifications
Define what it must do,
not how it must do it.

12. Performance specifications
Design specifications

13. Performance specifications
The enemy of design is the
absence of specifications.

14. Ideation and invention
A.
B.
C.
D.
Idea generation.
Frustration
Incubation
Eureka !!

15. Let’s play 

16. Ideation and invention
A.
B.
C.
D.
Idea generation.
Frustration
Incubation
Eureka !!

17. a) Idea generation
Brainstorming
• Quantity not Quality.
• Superficial ridiculous ideas
are welcomed.
• Ridicule is not allowed.
move
slide
Analogies are useful when
working alone.
throw
pull
jump

18. b) Frustration

19. c) Incubation
Saturate yourself in the problem
and background , relax! and let
you subconscious do the hard
work.

20. d) Eureka !!
If it didn’t happen , you have to
do more ideation, redefinition or
may be more research.

21. Analysis

22. Selection

23. Detailed design
CAD
material
chemical
electricity .. etc

24. Prototypes and testing

25. Design processes
1) Identify the need
6) Analysis
2) Background research
7) Selection
3) Goal statement
8) Detailed design
4) Performance specifications
9) Prototyping and testing
5) Ideation and invention
10) Production

26. Production

27. Agenda
• Kinematics of Robotic arms with linear actuators:
• Position analysis.
• Velocity analysis.
• Acceleration analysis.
• Kinetics of robotic arms with linear actuators:
• Calculating motors torque.
• Calculating cylinders pressure.

28. Actuators Classification according to the
type of motion:
• Rotary:
• Electric motors (DC, Stepper, Servo.)
• Hydraulic or Pneumatic rotary motors !!!
• Linear:
• Electric solenoids.
• Hydraulic cylinders.
• Pneumatic Cylinders.

30. Span Constraint

32. Geometry

35. Reverse analysis

36. Adding linear actuators to the analysis
• Compressed length: S1, S2, S3.
• Extension in cylinders: ΔS1, ΔS2, ΔS3.

37. Dynamic Analysis
• Free Body Diagram.
• Links Equations.
• Governing Equations Matrix.
• Links CG & Inertia.
• Angular speed & Acceleration

38. Links Design Considerations
• Avoid Cantilever joints.
• Account for radial load.
• Less weight.
• Grounding & Balancing.
• Links rigidity.
• Assembly & Disassembly.

39. Motor Driven Gripper

40. Practice