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Future of Robotics- Presentation by Dr. Manish Sharma


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Presentation was given by Dr. Manish Sharma, Prof. IIT Delhi.

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Future of Robotics- Presentation by Dr. Manish Sharma

  1. 1. Robotics
  2. 2. A real industrial robot With SIX revolute joints A revolute joint has ONE degree of freedom ( 1 DOF) that is defined by its angle 1 2 3 4 There are two more joints on the end effector (the gripper)
  3. 3. “ Robot” coined by Karel Capek in a 1921 science-fiction Czech play
  4. 4. “ A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “ A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear. ” MIT ’s Kismet: a robot which exhibits expressions, e.g., happy, sad, surprise, disgust.
  5. 5. Automation vs. robots <ul><li>Automation –Machinery designed to carry out a specific task </li></ul><ul><ul><li>Bottling machine </li></ul></ul><ul><ul><li>Dishwasher </li></ul></ul><ul><ul><li>Paint sprayer </li></ul></ul><ul><li>Robots – machinery designed </li></ul><ul><li>to carry out a variety of tasks </li></ul><ul><ul><li>Pick and place arms </li></ul></ul><ul><ul><li>Mobile robots </li></ul></ul><ul><ul><li>Computer Numerical Control </li></ul></ul><ul><ul><li>machines </li></ul></ul>(These are always better than robots, because they can be optimally designed for a particular task).
  6. 6. <ul><li>Actions </li></ul><ul><ul><li>Simple joints </li></ul></ul><ul><ul><ul><li>prismatic—sliding joint, e.g., square cylinder in square tube </li></ul></ul></ul><ul><ul><ul><li>revolute—hinge joint </li></ul></ul></ul><ul><ul><li>Compound joints </li></ul></ul><ul><ul><ul><li>ball and socket = 3 revolute joints </li></ul></ul></ul><ul><ul><ul><li>round cylinder in tube = 1 prismatic, 1 revolute </li></ul></ul></ul><ul><li>Mobility </li></ul><ul><ul><li>Wheels </li></ul></ul><ul><ul><li>multipedal (multi-legged with a sequence of actions) </li></ul></ul>Kinematics and dynamics (cont.)
  7. 7. Feedback control <ul><li>Rotation encoders </li></ul><ul><li>Cameras </li></ul><ul><li>Pressure sensors </li></ul><ul><li>Temperature sensors </li></ul><ul><li>Limit switches </li></ul><ul><li>Optical sensors </li></ul><ul><li>Sonar </li></ul>
  8. 9. Materials for Robotics
  9. 10. Bending of a Carbon nanotube J.-P. Salvetat Adv. Mat. 11 , 161-65 (1999). J.-P. Salvetat Phys. Rev. Lett. 82 , 944-47 (1999). Young’s Mod. = 810GPa. Shear Mod = 1GPa. 100 times smaller than a human hair (50-100um)
  10. 11. CNT’s are 100x stronger than steel.
  11. 12. Already being used in bridges Neal Bridge, Pittstown, ME, USA
  12. 13. Micromotors for robotics Watch motors: mechanical motors presently are 1-5mm in size. CNT motors are 0.01mm in size. To be used for muscle joints, grips, making robot hands. S
  13. 14. An inverted pendulum robot (Strictly for fun!) Has real applications: e.g., Segway transporter