2. Robotics
Analysis Revision
&
Robotics Manipulation

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

4. 1. Geneva Mechanism

5. 2. Ratchet & pawl mechanisms

6. 3. Linear Intermittent Geneva
mechanism

7. Four bar mechanism
Grashof condition •

8. Crank Rocker 4 bar mechanism

9. Double rocker mechanism

10. Barker classification

11. Crank Slider Mechanism

12. Crank Slider Mechanism

13. Kinematic diagrams

14. Kinematic diagrams

15. Kinematic diagrams

16. Kinematic diagrams

17. Kinematic diagrams
Hydraulic Cylinder

18. Kinematic diagrams
Pneumatic Cylinder

19. Kinematic diagrams

20. Kinematic diagrams

21. Kinematic diagrams

22. Kinematic diagrams

23. Kinematic diagram

24. Kinematic Diagrams

25. Kinematic Diagrams

26. Joints classification
• According to geometry:

27. Joints classification
• According to pairs order:
2D: J1 & J2.
3D: J1, J2, J3, J4 & J5.

28. Degrees of freedom meaning

29. Degrees of freedom calculation
For 2D mechanism:

30. Example

31. Degrees of freedom calculation
For 3D mechanism:

32. Degrees of freedom calculation

33. Minions Video 
Teamwork

34. Teamwork
What ???
Why ???
How ???

35. Teamwork
Individuals with different
skills and interests work
together to achieve their
common goals .

36. Why Teamwork ??

37. Effective Teams

38. What are Characteristics of Effective
Teams?
 Members have a clear
goal
 Members are competent

39.  There is a plan for
achieving the goal
 The focus is on achieving
results

40. More Characteristics
 They achieve decisions
through consensus
 Members have clear
roles

41.  Diversity among team
members
 They know each other and
have good relationships

42. What are the Four Stages of Team
Development?
 Forming
 Storming
 Norming
 Performing
 Every effective team
goes through these
life cycle stages

44. Forming
Team members are
introduced and begin
getting to know each
other
Goals and tasks are
established
Generally polite behavior
among members
Norms are not understood

45. Storming
Members are sizing
each other up and
voice their views
May argue about
goals or how they
should be
accomplished
May choose sides
against other
members

46. Norming
Once issues are
resolved, agreement
occurs around team
norms and expectations
Trust and common
interests are developing
Roles and objectives
are clarified and
understood

47. Performing
Members make
contributions and are
motivated by results
Leadership is shared
according to members’
knowledge and skills
Norms and culture are
well understood
Tasks get accomplished
effectively and efficiently

48. Effective & Efficiency

49. Fluid control System
Hydraulic System.
Pneumatic System.

50. Applications
Pneuscrew pneumatic
fasteners video 

51. Pneumatic control system
Main parts:Power source Control units
Actuators

52. Cylinders
Double Acting Cylinder
Pneumatic cylinder
video 

53. Cylinders
Single Acting Cylinder

54. Single acting cylinder with spring

55. Double acting , double ended

56. Pneumatic control system
Power source Control units
Actuators
Cylinders

57. m

58. Air compressors
Video 

59. Air reservoir

60. Pneumatic control system
Power source Control units
compressor
reservoir
Actuators
Cylinders

62. Pneumctic ontrol system
Power source Control units
•
• ReservoirFlow control valves
Actuators
• Cylinders

63. Pneumatic control system
Power source Control units
• Flow control valves
(kinematic analysis)
Actuators
eg.

64. Flow control valves
Video

65. Pneumatic control system
Actuators
Power source Control units
• Flow control valves
(kinematic analysis)
• Pressure control valves
(kinetic analysis)

67. Regulator

68. Gauge (manometer)

69. Hydraulic control system
Actuators
Power source Control units
• Flow control valves
(kinematic analysis)
• Pressure control valves
(kinetic analysis)
• Non return valve

70. Non return valve

71. Hydraulic control system
Actuators
Power source Control units
• Flow control valves
(kinematic analysis)
• Pressure control valves
(kinetic analysis)
• Non return valves
• Directional control valves

72. Directional control valves

73. Number of positions (Y)
• One position (fun.)
• Two position

74. Flow direction line
Shut off position

75. Number of ports (X)
5 ports
The valves called: (x/y) valve

76. 2/2 valve
4/2 valve
4/3 valve
5/3 valve

77. Video 

78. Push button control valve

79. Lever control valve

80. Solenoid control valve

81. Pneumatic control system
Power
source
• Motor
Control units
Actuators
• Flow control • Cylinders
• Compressor • Pressure
control
• Reservoir
• Non return
• directional
• Motors

83. Hydraulic control system
Power source Control units
Actuators
• Motor
• Flow control
• Cylinders
• Pump
• Pressure
control
• Non return
• Motors
• Oil tank
• directional

84. Symbols

85. What’s Pneumatic????

86. Pneumatic circuits

87. Power
P= T*w
P= F*v
P= V*I
P= P*Q’

88. We are going to move it.

89. Lv =1 m
LH =2 m
Time= 2 min.
End Point
Dimension of robot= 40*40
Note: you can change
Start Zone
motor speed by
changing voltage
i.e. 24 V  110 rpm
12 V  55 rpm

90. Results
Around itself.
Around Wheel.
On a Curve.

91. Omni Wheel

92. Omni Wheel
Video Omni
Wheel