Introduction to Robots and Robotics
•Download as PPTX, PDF•
0 likes•123 views
Robots, the evolution of Robots, interdisciplinary area in robotics, anatomy of Robots, and types of robots, KInematics of Robotics
More Related Content
What's hot
What's hot (19)
Similar to Introduction to Robots and Robotics
Similar to Introduction to Robots and Robotics (20)
Recently uploaded
Recently uploaded (20)
Introduction to Robots and Robotics
- 1. An Introduction to Robots and Robotics Presented By Dr. ANKITENDRAN MISHRA Indian Institute of Technology (B.H.U.), Varanasi
- 2. Points to Ponder • What is a robot? • What is robotics? • How can we teach a robot to perform a particular task? • What are possible applications of robot? • Can human be replaced?? 2
- 3. Introduction 3 • Robot – machine that look like a human being • Robot- word forced labour • Coined in 1921 Karel Capek in Rossum’s Universal Robots • Def: Robot Institute of America • Reprogrammable • Multifunctional • Manipulator (means robot with one fixed base) designed to move materials, parts or tools through variable programmed motions for the performance of a variety of task.
- 4. Evolution of Robots • In 1954 • 1956- Joseph Engelberger – Unimation. • 2015 Sophia (humanoid) – HongKong - Intelligent and emotional • Started late in India-1979-80’s. • Robotics is a science which deals with the issues related to design, manufacturing and usage of robots. • In robotics we try to copy 3 H’s- • Hand- manipulators, • Head- intelligence, and • Heart-emotions of human being. 4
- 5. Mechanical Engineering Kinematics - motion of the robotic arm without considering the forces and/or moments. Dynamics- Study of forces and/or moments. Sensing- Collecting information of the environment. Computer Science: Motion Planning- Planning the course of action Artificial Intelligence - to design and develop Electrical and Electronics Control schemes and Hardware implementations. 5 Interdisciplinary area in robotics
- 6. Motivation Increasing demand of a dynamic and competitive market, following requirements are to be satisfied: o Reduced production cost o Increased productivity o Improved product quality. Automation is required o Batch production- flexible automation o Mass production- fixed automation. 6
- 7. • Base • Links and Joints • End Effector/ gripper • Wrist • Driver/Actuator • Controllers and • Sensors 7 Robot Anatomy
- 8. Types of Robots 8 • Industrial Robots • Domestic or household robots • Medical robots • Military robots • Service robots • Stationary Robots • Wheeled Robots • Legged robots • Underwater robots • Aerial Robots
- 9. 9 • a robotic manipulator is a kinematic chain • i.e. an assembly of pairs of rigid bodies that can move respect to one another via a mechanical constraint • the rigid bodies are called links • the mechanical constraints are called joints Robotic Manipulators
- 10. • Most manipulator joints are one of two types 1. revolute (or rotary) • like a hinge • allows relative rotation about a fixed axis between two links • axis of rotation is the z axis by convention 2. prismatic (or linear) • like a piston • allows relative translation along a fixed axis between two links • axis of translation is the z axis by convention Joints
- 11. Revolute Joint Variable • revolute • qi = qi : angle of rotation of link i relative to link i – 1 link i – 1 link i qi
- 12. Prismatic Joint Variable 4/20/2021 12 Symbolic Representation of Manipulators • prismatic • qi = di : displacement of link i relative to link i – 1 link i – 1 link i di
- 13. Articulated Manipulator 4/20/2021 13 • RRR (first three joints are all revolute) • joint axes • z0 : waist • z1 : shoulder (perpendicular to z0) • z2 : elbow (parallel to z1) Common Manipulator Arrangements z0 z1 z2 waist shoulder elbow forearm q1 q2 q3
- 14. Spherical Manipulator 4/20/2021 14 • RRP • Stanford arm o rotational axis o axes are θ –the rotational axes; R – the reach axis; and β- the bend up-down axis. Common Manipulator Arrangements z0 z1 z2 waist shoulder q1 q2 d3
- 15. SCARA Manipulator • RRP • Selective Compliant Articulated Robot for Assembly o It is based on four axis design o The arm is rigid in Z-axis and flexible in XY axis. o Jointed two link arm arrangement similar to our human arms. z0 z1 z2 q1 q2 d3
- 16. Kinematics of Robotics • Object location and motion • Transformation matrix • Homogeneous transformation • Forward Kinematics • Inverse Kinematics • Differential relationships 16
- 17. Forward Kinematics 4/20/2021 17 • given the joint variables and dimensions of the links what is the position and orientation of the end effector? Forward Kinematics q2 q1 a1 a2
- 18. 4/20/2021 18 • choose the base coordinate frame of the robot • we want (x, y) to be expressed in this frame Forward Kinematics q2 q1 a1 a2 (x, y) ? x0 y0
- 19. 4/20/2021 19 • notice that link 1 moves in a circle centered on the base frame origin Forward Kinematics q2 q1 a1 a2 (x, y) ? x0 y0 ( a1 cos q1 , a1 sin q1 )
- 20. 4/20/2021 20 • choose a coordinate frame with origin located on joint 2 with the same orientation as the base frame Forward Kinematics q2 q1 a1 a2 (x, y) ? x0 y0 ( a1 cos q1 , a1 sin q1 ) q1 x1 y1
- 21. 4/20/2021 21 • notice that link 2 moves in a circle centered on frame 1 Forward Kinematics q2 q1 a1 a2 (x, y) ? x0 y0 ( a1 cos q1 , a1 sin q1 ) q1 x1 y1 ( a2 cos (q1 + q2), a2 sin (q1 + q2) )
- 22. 4/20/2021 22 • because the base frame and frame 1 have the same orientation, we can sum the coordinates to find the position of the end effector in the base frame Forward Kinematics q2 q1 a1 a2 x0 y0 ( a1 cos q1 , a1 sin q1 ) q1 x1 y1 ( a2 cos (q1 + q2), a2 sin (q1 + q2) ) (a1 cos q1 + a2 cos (q1 + q2), a1 sin q1 + a2 sin (q1 + q2) )
- 23. 4/20/2021 23 • we also want the orientation of frame 2 with respect to the base frame • x2 and y2 expressed in terms of x0 and y0 Forward Kinematics q2 q1 a1 a2 x0 y0 q1 x2 y2
- 24. • 𝑃𝑓 = 𝐴 𝑃𝑚 m – mobile reference f- fixed reference • 𝐴 = 𝑓𝑘 . 𝑚𝑗 (A is n*n matrix- Coordination Transformation matrix) 1≤k and j<n (A)= 𝑓1𝑚1 𝑓1𝑚2 𝑓1𝑚3 𝑓2𝑚1 𝑓2𝑚2 𝑓2𝑚3 𝑓3 𝑚1 𝑓3 𝑚2 𝑓3 𝑚3
- 25. • Rotation • In order to specify the orientation and position of the mobile tool in terms of coordinate frame attached to fixed base, coordinate transformation involving both rotation and translation are required. • 𝐴 = 1 0 0 0 cos Φ − sin Φ 0 sin Φ cos Φ
- 26. 4/20/2021 26 • without proof I claim: Forward Kinematics q2 q1 a1 a2 x0 y0 q1 x2 = (cos (q1 + q2), sin (q1 + q2) ) y2 = (-sin (q1 + q2), cos (q1 + q2) ) x2 y2
- 27. I Welcome your Suggestions
Editor's Notes
- Shouldn’t it be Factors affecting erosion rate
- Increase in nitrogen increases the austenite formation and thereby improves the mechanical properties of the material for structural applications. Ni equivalent is 2.405 and Cr equivalent is 24.67 This material when subjected to practical application suffers hot corrosion.