This document discusses various robot drive systems and end effectors. It describes several types of drive systems including hydraulic, pneumatic, and electric drives. Hydraulic drives are suitable for heavy loads but require more maintenance. Pneumatic drives are cheaper but generate more noise and vibration. Electric drives offer cleaner operation but require larger motors. Within electric drives, the document discusses stepper motors, servo motors, and their operating principles. It also covers various types of actuators and their applications in robotics. End effectors such as grippers are also briefly introduced.
Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
1) Sensors are devices that detect physical quantities and convert them into signals that can be measured. They are needed for industrial monitoring, safety, and automation.
2) Common sensors include position, proximity, range, touch, and force sensors. Position sensors like LVDT and RVDT convert linear or angular displacement into electrical signals.
3) Sensors have characteristics like range, sensitivity, accuracy, and response time that determine their effectiveness. Understanding sensor types and properties is important for robotics applications.
The document discusses various types of sensors and machine vision systems. It describes position sensors including piezoelectric sensors, LVDTs, optical encoders, and resolvers. It also covers range sensors, touch sensors, cameras, and image processing techniques. The key applications mentioned are inspection, identification, visual serving, and navigation.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
The document discusses different types of robot end effectors and grippers. It describes various gripper mechanisms including mechanical, pneumatic, hydraulic, vacuum, magnetic, and adhesive grippers. It also covers classifications of grippers based on the method of holding parts, incorporated tools, and functionality. Key factors for gripper design and selection are highlighted.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
Robotics and automation _ power sources and sensorsJAIGANESH SEKAR
Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
1) Sensors are devices that detect physical quantities and convert them into signals that can be measured. They are needed for industrial monitoring, safety, and automation.
2) Common sensors include position, proximity, range, touch, and force sensors. Position sensors like LVDT and RVDT convert linear or angular displacement into electrical signals.
3) Sensors have characteristics like range, sensitivity, accuracy, and response time that determine their effectiveness. Understanding sensor types and properties is important for robotics applications.
The document discusses various types of sensors and machine vision systems. It describes position sensors including piezoelectric sensors, LVDTs, optical encoders, and resolvers. It also covers range sensors, touch sensors, cameras, and image processing techniques. The key applications mentioned are inspection, identification, visual serving, and navigation.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
The document discusses different types of robot end effectors and grippers. It describes various gripper mechanisms including mechanical, pneumatic, hydraulic, vacuum, magnetic, and adhesive grippers. It also covers classifications of grippers based on the method of holding parts, incorporated tools, and functionality. Key factors for gripper design and selection are highlighted.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
A robot is a mechanical device guided by a computer program capable of performing industrial tasks. Robots usually have a body, arm, and wrist and can use different coordinate systems like polar, cylindrical, or Cartesian. They are classified by their configuration, workspace shape, power source, and technology level. Robots vary in size and are specified by their pitch, yaw, roll, joint notation, speed, and payload.
This document discusses robot programming methods. It describes leadthrough programming where the robot is taught motions by physically moving it through the required cycles. It also discusses using textual programming languages to enter commands into the robot controller. Additionally, it explains simulation and off-line programming where the program is prepared remotely and downloaded to the robot without using leadthrough methods. Finally, it provides examples of motion commands, interlock/sensor commands, and coordinate systems used in robot programming.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
This document provides an overview of robot fundamentals including definitions, anatomy, classifications, specifications, parts and functions. It discusses the definition of a robot as a re-programmable mechanical device that performs tasks controlled by a human or automated system. It describes the basic anatomy of a robot including the body, manipulator, end effectors, and sensors. It also covers various robot configurations, degrees of freedom, joint notations, and specifications like accuracy and speed. Finally, it lists common robot parts and their functions, including the body, power supply, controller, manipulator and end effectors.
1) The document discusses the fundamentals of robotic manipulators, including their classification, parts, motions, and work envelopes.
2) The major types of robot configurations are Cartesian, cylindrical, spherical, SCARA, and articulated, which are defined by their joint types and resulting work spaces.
3) Robotic manipulators consist of links connected by joints and powered by electric, hydraulic, or pneumatic drives to position an end effector through programmed motions.
This document discusses robot vision systems. It covers topics like industrial robotics, medical robotics, computer vision capabilities for robotics like object recognition and registration, vision sensors, issues with vision systems, and visual servoing techniques. Application examples discussed include using vision for accurate robot positioning, laparoscopic surgery, and tracking instruments.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
This document provides an overview of robot fundamentals, including definitions, classifications, specifications, anatomy, and applications. It defines a robot as a reprogrammable mechanical device that performs tasks controlled by a human or automated system. Robots are classified based on their mechanical arm, degrees of freedom, power source, control system, sensors, movement, industry application and more. The document also describes common robot coordinate systems, joints, motions, and specifications for different robot configurations including Cartesian, cylindrical, polar, SCARA and more. It provides examples of various robot applications in industries.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
This document provides an overview of industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like links, joints, drives, and sensors. Common robot configurations and their joint notation are shown. The document also discusses robot programming methods including leadthrough and textual languages, as well as simulation for offline programming.
This document discusses robot end effectors. It defines an end effector as a device that attaches to a robot arm and enables it to perform specific tasks. There are two main types of end effectors: grippers, which grasp and manipulate objects, and tools, which perform processes like welding. It describes various types of grippers including mechanical, suction, magnetic, and adhesive grippers. Mechanical grippers use fingers actuated by different mechanisms like linkages, gears, cams, or screws to grasp objects. Gripper selection depends on factors like the object weight and geometry.
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
The document discusses various methods of robot programming including manual programming, walkthrough programming, leadthrough programming, and offline programming. It also covers different robot languages such as VAL, AL, AML, MCL, and RAIL as well as features of a teach pendant and basic modes of robot operation including monitor, edit, and run modes. Common robot motions, sensors, and welding patterns are also explained.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
An electric drive system controls the motion of an electric motor using various components. It consists of an electrical power source, power modulators to regulate power flow from the source to the motor, and sensors for closed-loop control. The type of motor used depends on factors like the load characteristics. Electric drives are used to power machines, pumps, compressors and more. They offer advantages like wide speed and torque control but also have disadvantages such as high initial costs and potential damage from short circuits.
Electric drives employ electric motors to control motion. They have advantages like flexible speed control, efficiency, and adaptability. Electric drives are used in various low and high power applications from appliances to cranes and factories. An electric drive system consists of a motor, load, controller, power source, and power modulator. The power modulator converts and regulates power from the source to the motor according to the load needs. Electric drives can operate in up to four quadrants depending on the direction of rotation and whether torque aids or opposes motion. Proper selection of an electric drive depends on requirements like the power source, costs, speed and torque characteristics, and transient operation needs.
A robot is a mechanical device guided by a computer program capable of performing industrial tasks. Robots usually have a body, arm, and wrist and can use different coordinate systems like polar, cylindrical, or Cartesian. They are classified by their configuration, workspace shape, power source, and technology level. Robots vary in size and are specified by their pitch, yaw, roll, joint notation, speed, and payload.
This document discusses robot programming methods. It describes leadthrough programming where the robot is taught motions by physically moving it through the required cycles. It also discusses using textual programming languages to enter commands into the robot controller. Additionally, it explains simulation and off-line programming where the program is prepared remotely and downloaded to the robot without using leadthrough methods. Finally, it provides examples of motion commands, interlock/sensor commands, and coordinate systems used in robot programming.
This document discusses robot controllers and motion control of robots. It describes how robot controllers are used to store information about the robot and environment and execute programs to operate the robot. It then discusses different types of motion control systems and control functions like velocity control and position control. It also describes PID and PI controllers that are commonly used for feedback control. Finally, it outlines different types of robot control including point-to-point, continuous path, and controlled path robots.
This document provides an overview of robot fundamentals including definitions, anatomy, classifications, specifications, parts and functions. It discusses the definition of a robot as a re-programmable mechanical device that performs tasks controlled by a human or automated system. It describes the basic anatomy of a robot including the body, manipulator, end effectors, and sensors. It also covers various robot configurations, degrees of freedom, joint notations, and specifications like accuracy and speed. Finally, it lists common robot parts and their functions, including the body, power supply, controller, manipulator and end effectors.
1) The document discusses the fundamentals of robotic manipulators, including their classification, parts, motions, and work envelopes.
2) The major types of robot configurations are Cartesian, cylindrical, spherical, SCARA, and articulated, which are defined by their joint types and resulting work spaces.
3) Robotic manipulators consist of links connected by joints and powered by electric, hydraulic, or pneumatic drives to position an end effector through programmed motions.
This document discusses robot vision systems. It covers topics like industrial robotics, medical robotics, computer vision capabilities for robotics like object recognition and registration, vision sensors, issues with vision systems, and visual servoing techniques. Application examples discussed include using vision for accurate robot positioning, laparoscopic surgery, and tracking instruments.
Introduction to robotics, Laws,Classification,Types, Drives,Geometry Mohammad Ehtasham
Introduction to robotics , Basic overview ,Classification of robotics,laws of robotics,Types of robot, Robot Geometry, Robot drives, Some of the key benefits of robots in industry and society
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
This document provides an overview of robot fundamentals, including definitions, classifications, specifications, anatomy, and applications. It defines a robot as a reprogrammable mechanical device that performs tasks controlled by a human or automated system. Robots are classified based on their mechanical arm, degrees of freedom, power source, control system, sensors, movement, industry application and more. The document also describes common robot coordinate systems, joints, motions, and specifications for different robot configurations including Cartesian, cylindrical, polar, SCARA and more. It provides examples of various robot applications in industries.
The document discusses robot kinematics and control. It covers topics like coordinate frames, homogeneous transformations, forward and inverse kinematics, joint space trajectories, and cubic polynomial path planning. Specifically:
1) Kinematics is the study of robot motion without regard to forces or moments. It describes the spatial configuration using coordinate frames and homogeneous transformations.
2) Forward kinematics determines end effector position from joint angles. Inverse kinematics determines joint angles for a desired end effector position.
3) Joint space trajectories plan motion by describing joint angle profiles over time using functions like cubic polynomials and splines.
4) Cubic polynomials satisfy constraints like initial/final position and velocity to generate smooth motion profiles for a single revol
This document discusses the design and applications of industrial robot manipulators. It describes how a robotic arm is composed of rigid links connected by joints, and defines important robot terms like degrees of freedom, joint types, link parameters, and work volume. It also categorizes common robot system configurations and explains robot kinematics, dynamics, motion types, and trajectory planning.
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov's laws of robotics – dynamic stabilization of robots.
This document provides an overview of industrial robotics, including robot anatomy, control systems, end effectors, applications, and programming. It describes the typical components of a robot like links, joints, drives, and sensors. Common robot configurations and their joint notation are shown. The document also discusses robot programming methods including leadthrough and textual languages, as well as simulation for offline programming.
This document discusses robot end effectors. It defines an end effector as a device that attaches to a robot arm and enables it to perform specific tasks. There are two main types of end effectors: grippers, which grasp and manipulate objects, and tools, which perform processes like welding. It describes various types of grippers including mechanical, suction, magnetic, and adhesive grippers. Mechanical grippers use fingers actuated by different mechanisms like linkages, gears, cams, or screws to grasp objects. Gripper selection depends on factors like the object weight and geometry.
1) The document discusses various topics related to robotics including definitions, degrees of freedom, robot arm and wrist configurations, joint classifications, robot safety, components and control systems.
2) It provides details on common robot arm configurations including rectangular, cylindrical, spherical and revolute coordinated systems.
3) The document also describes robot control systems including limited sequence control, playback with point-to-point control and continuous path control as well as intelligent control.
The document discusses various methods of robot programming including manual programming, walkthrough programming, leadthrough programming, and offline programming. It also covers different robot languages such as VAL, AL, AML, MCL, and RAIL as well as features of a teach pendant and basic modes of robot operation including monitor, edit, and run modes. Common robot motions, sensors, and welding patterns are also explained.
Industrial robots are essential to modern manufacturing. The first modern robots, called Unimates, were developed in the late 1950s and early 1960s by George Devol and Joe Engelberger. Since then, robots have advanced through four generations and are now reprogrammable, multifunctional manipulators used to transfer materials, parts, tools, and devices through variable programmed motions. Common robot components include arms, end effectors like grippers or tools, drive mechanisms, controllers, and sensors. Robots are useful for applications like material handling, machine loading/unloading, welding, assembly, and inspection. While robots provide advantages like increased output and consistency, they still have limitations and rely on human creativity, decision making
An electric drive system controls the motion of an electric motor using various components. It consists of an electrical power source, power modulators to regulate power flow from the source to the motor, and sensors for closed-loop control. The type of motor used depends on factors like the load characteristics. Electric drives are used to power machines, pumps, compressors and more. They offer advantages like wide speed and torque control but also have disadvantages such as high initial costs and potential damage from short circuits.
Electric drives employ electric motors to control motion. They have advantages like flexible speed control, efficiency, and adaptability. Electric drives are used in various low and high power applications from appliances to cranes and factories. An electric drive system consists of a motor, load, controller, power source, and power modulator. The power modulator converts and regulates power from the source to the motor according to the load needs. Electric drives can operate in up to four quadrants depending on the direction of rotation and whether torque aids or opposes motion. Proper selection of an electric drive depends on requirements like the power source, costs, speed and torque characteristics, and transient operation needs.
This document discusses the components and workings of CNC machines. It begins by explaining numerical control machines and their evolution into CNC machines, which are controlled by a microcomputer rather than hardwiring. The main electrical components of CNC machines are stepper motors and servo motors. Stepper motors move in discrete steps while servo motors use feedback control. Mechanical components include recirculating ball screws and roller screws which convert sliding motion to rolling motion for precision positioning.
This document discusses the components and workings of CNC machines. It begins by explaining numerical control machines and their evolution into CNC machines, which are controlled by a microcomputer rather than hardwiring. The main electrical components of CNC machines are stepper motors and servo motors. Stepper motors move in discrete steps while servo motors use feedback control. Mechanical components include recirculating ball screws and roller screws which convert sliding motion to rolling motion for precision positioning.
The document discusses stepper motors, including their construction, types, advantages/disadvantages, working principle, and applications. Stepper motors are brushless DC synchronous motors that convert digital pulses into precise mechanical movements by dividing a full rotation into a number of equal steps. The main types are variable reluctance, permanent magnet, and hybrid synchronous stepper motors. Applications span industrial machinery, consumer electronics, automotive, office equipment, medical devices, and more due to their stable operation, repeatability, and ability to drive a variety of loads without feedback.
An electric drive is a system that controls the motion of an electric motor. It consists of an electric power source, power modulators to regulate power flow from the source to the motor, a motor, sensors for feedback, and a controller. Power modulators can include AC to DC converters, DC to DC converters, and AC to AC converters. The type of motor used depends on factors like the load characteristics. Sensors measure parameters like motor speed and current. The controller then generates control signals to the power modulator based on sensor feedback to extract the desired output. Electric drives are used in applications like transportation systems, rolling mills, machine tools, and pumps.
This document discusses electric drive systems. It outlines the basic elements, which include a power source, electric motor, converter, controller, and mechanical load. It describes the torque-speed characteristics of different types of motors and loads. It also covers power supplies for electric drives, including alternating current and direct current sources. Control of electric drives is also mentioned.
This course covers electric drive systems controlled by power electronic converters. It discusses DC drives, induction motor drives controlled from the stator side and rotor side, and synchronous motor drives. Students will learn about drive characteristics and modeling, DC drive configurations, closed-loop control of induction motors, efficient speed control methods for induction motors, and control techniques for synchronous motors. The course aims to provide an understanding of electric drive performance and applications in various industries.
An actuator is a device that converts a control signal into mechanical motion. Actuators require a control signal and a source of energy. Common types of actuators include hydraulic, pneumatic, mechanical, electrical, and piezoelectric actuators. Actuators are used in a variety of applications such as industrial machinery, vehicles, medical devices, consumer electronics, and more. Stepper motors and servo motors are types of electrical actuators that provide precise motion control.
Electrical drive unit 1 as per IP university_EEEamrutapattnaik2
it is the complete Electrical Drive syllabus of the unit1. i 've tried a lot to merge everything in one PPT.it might be helpful for final year students.
i am also thankful to slideshare as I also collected all data and notes from this site too.
kindly share your suggestions for the improvement
EE6801 - Electric Energy Generation Utilisation and Conservationrmkceteee
This document provides information about electric drives and traction. It defines electric drives as systems that employ electric motors for supplying mechanical energy for motion control. It lists the main parts of electric drives and their applications. It discusses various types of duty cycles for electric drives and different methods of electric drive operation and speed control of DC and induction motors. It also covers topics like regenerative braking, traction systems, energy consumption factors and braking methods.
1. The document discusses electric drives and their components. Electric drives use electric motors as prime movers and include a power source, power modulator, motor, control unit, and sensing unit.
2. Power modulators can be converters, variable impedance circuits, or switching circuits. Converters provide adjustable voltage/current/frequency to control motor speed and torque. Variable impedance circuits and switching circuits are used to control motor parameters.
3. Electric drives are classified as individual drives, group drives, or multimotor drives depending on how many motors are used to drive different loads. Individual drives use one motor for all loads while group drives use one motor connected to multiple loads through pulleys. Multimotor
Inverters offer speed or torque control of electric motors.
Maybe you have walked past without noticing them or maybe you know exactly how many you have, either way electric motors play an important role in our everyday lives which most of us are unaware of but, they move and run most things we need for business and pleasure.
All these motors consume electricity so need a corresponding amount of energy to provide the torque or speed needed. If the torque or speed is too high or low, mechanical controls are used to control output. A motor’s speed should match exactly what is required by the process, otherwise the result is inefficiency with a lot of wasted materials and energy.
Not knowing how to control motors can mean a lot of energy gets wasted which isn’t good for any business. A way to control these motors, which not only saves energy, but improves productivity and reduces maintenance costs, is to use an inverter.
(c) inverterdrivesystems.com
This document discusses different types of actuators used in robotics. It begins by defining actuators as devices that produce mechanical movement in robots. It then covers various electrical actuators like DC motors, brushless DC motors, stepper motors, and servos. Other actuator types discussed include hydraulic, pneumatic, and piezoelectric actuators. For the course, the document notes that only servos will be used, but other actuator types were explored in past projects like DC motors, pneumatics, shape memory alloys and hydraulics.
This document provides an overview of different types of motors used in computer numerical control (CNC) machines. It describes the basic components and working principles of motors. It then compares alternating current (AC) and direct current (DC) motors, discussing stepper motors, servo mechanisms, and the motors typically used in CNC machines including spindle motors and linear motors. Key selection criteria for motors in CNC applications include revolutions per minute, torque, standards compliance, power requirements, and motor load.
International Journal of Engineering Research and Applications (IJERA) aims to cover the latest outstanding developments in the field of all Engineering Technologies & science.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
This document provides an overview of electric motors, including different types of motors, their basic principles and components. It discusses induction motors, synchronous motors, and single phase motors. It also covers motor specifications, testing, storage, lubrication, and maintenance practices. The presentation was prepared by Kapil Singh for Thermax Ltd and includes topics like classification of motors, laws of electromagnetism, rotating magnetic fields, and motor applications.
The document discusses different types of electric motors including DC motors, AC motors, and stepper motors. It provides details on the fundamental characteristics, construction, and applications of series, shunt, and permanent magnet DC motors as well as single phase, three phase, and stepper AC motors. The document also covers modeling and control methods for DC and AC motors including H-bridge control and variable frequency drives.
DC motors have advantages like easy speed control but disadvantages like sparks and noise. There are several types of DC motors including shunt wound, series wound, compound wound, and permanent magnet. AC motors are more common and include induction motors, which are the most widely used. Induction motors have constant speed and are robust but lack speed control. Other AC motor types include synchronous, repulsion, hysteresis, and linear induction motors. Stepper motors are useful for precise positioning.
Units
and dimensions Properties of fluids mass density, specific weight,
specific volume, specific gravity, viscosity, compressibility, vapor pressure,
surface tension and capillarity
The document discusses various metal forming processes including forging, rolling, extrusion, and drawing. It describes the key characteristics of these processes. Forging involves shaping metals using compressive forces and can be done hot or cold. Rolling is used to reduce the thickness and increase the length of metal by passing it through rotating cylinders. Extrusion forces heated metal through a die to take on the die's shape. Drawing reduces the cross-sectional area and increases the length of metal as it is pulled through a die. The document provides details on specific types and equipment used for each of these key metal forming techniques.
The document discusses various topics related to plastics manufacturing including:
1. Types of plastics and their characteristics as well as common shaping processes like injection molding, compression molding, and blow molding.
2. Key industrial applications of thermoplastics including blow molding, rotational molding, film blowing, extrusion, and thermoforming.
3. Differences between thermoplastics and thermosetting plastics in terms of their molecular structure and ability to be reshaped with heat.
Sand casting is a process for producing metal parts by pouring molten metal into a sand mould cavity of the required shape. Patterns are used to form the cavity and are made from materials like wood, metal, or plastic. Moulding sand properties like permeability and strength are tested. Molten metal is produced using furnaces like cupolas or crucibles. Special casting processes include shell moulding, investment casting, die casting, and centrifugal casting. Cores are also used inside the mould cavity.
This document discusses various joining processes including welding, brazing, soldering and adhesive bonding. It covers the principles, equipment and techniques for gas welding, arc welding, resistance welding, special welding processes like TIG, plasma arc and friction welding. The document also discusses brazing and soldering methods, filler materials, flux materials and types of adhesive bonding.
The document discusses various sheet metal processes and formability testing methods. It covers common sheet metal forming operations like shearing, bending, drawing, and specialized processes such as hydroforming, rubber pad forming, spinning, and super plastic forming. It also describes properties of sheet metals, different types of presses, and factors that influence formability testing methods like the Erichsen and Olsen tests which evaluate formability based on thickness reduction under stress.
Inventory control aims to ensure adequate supply without excessive overstock. It answers questions about when to order, where to store inventory, and how much to order. Two common inventory management techniques are the two bin system and economic order quantity (EOQ) modeling, which help minimize holding and ordering costs. ABC analysis categorizes inventory into A, B, and C items to apply appropriate control policies to each. Enterprise resource planning (ERP) and manufacturing resource planning (MRP II) help effectively plan and control resources across the whole organization.
The document discusses various production scheduling concepts and methods. It describes the loading and scheduling process, which involves determining the work required, computing total time needed, and adding it to existing workplans. Scheduling then determines operation start/finish times. Master scheduling and Gantt charts are also referenced. Benefits of scheduling include reduced inventory and setups. MRP, Kanban, dispatching, progress reporting and expediting are additionally summarized.
Product planning identifies market requirements to define a product's features. It serves as the basis for pricing, distribution, and promotion decisions. Value analysis aims to increase value, defined as function over cost, by improving function or reducing cost. Lack of product planning can lead to unsatisfied customers, quality issues, and loss of brand name. Process planning involves routing, scheduling, dispatching, and follow up based on product information, processes, capacity, orders, due dates, and resources. Economic batch quantity determines the optimal batch size to minimize average costs by balancing setup costs and inventory carrying costs.
The document discusses work study and method study. It provides definitions and objectives of method study, which includes improving processes, working conditions, and reducing human effort. The basic procedure for method study is outlined as selecting work, recording facts, examining critically, developing efficient methods, defining the new method, installing, and maintaining it. Various charts used for process study are described such as operation process charts, flow process charts, two-handed process charts, and their applications to improve material and information flow. Common symbols used in process charts are also defined.
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2. ROBOT DRIVE SYSTEMS AND END
EFFECTORS
Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical
Drives-D.C. Servo Motors, Stepper Motors, A.C. Servo Motors-
Salient Features, Applications and Comparison of all these
Drives, End Effectors-Grippers-Mechanical Grippers, Pneumatic
and Hydraulic- Grippers, Magnetic Grippers, Vacuum Grippers;
Two Fingered and Three Fingered Grippers; Internal Grippers
and External Grippers; Selection and Design Considerations.
3. ROBOT DRIVE SYSTEMS
Drive means operate the robot.
The drive system is to provide a means to control the speed and
also torque (or) power.
Drive system is used for converting hydraulic, pneumatic, and
electrical energy into useful mechanical energy. It is used to
motion transfer and drive the robot.
4. Types of drive system
Hydraulic drive systems
Pneumatic drive systems
Electric drive systems
5. Hydraulic drive systems
Pressurised fluid is used to transmit and control power.
The hydraulic drive is mostly suitable for heavy load robot
applications
The term hydraulic refers to the transfer of energy from
pressure difference not from the kinetic energy of flow
6. Features of Hydraulic drive system
High force capability
High dynamic response
Assisted braking torque
Good mechanical stiffness
High power per unit weight and volume
10. Advantages
No reduction gear is needed
High accuracy and better response
Excellent for heavy duty and large robots
It provide more power than electric drives
11. Disadvantages
High maintenance
More expensive system
Not suitable for clean air environment
Requires pump, reservoir, motor and hoses
More floor space is required
12. Pneumatic drive systems
Pressurised air is used to control power.
With pneumatic valves control the flow of energy from
pressurized gas
Features of Pneumatic drive system
Compressed air has most of the desired properties and
characteristics of a gas for pneumatic system.
It is not poisonous and non flammable.
17. Advantages
Good accuracy
Excellent speed
Easy installation
Small leakage can be tolerated
Economical than hydraulic drives
18. Disadvantages
Difficult to control
Air needs preconditioning
Precision is less than electric drives
More vibration is generated
More noise is produced
19.
20. Electric drive systems
An electric drive system is defines as a form of machine
equipment designed to convert electric energy into mechanical
energy and provide electric control of the process.
Features of Pneumatic drive system
Electric drive offers energy transformation
The control components are used to limit the
amplitude(armature current of DC motor)
21. There are three major types of electric drives
1. AC servo motor
2. DC servo motor
3. Stepper motor
Parts of electric drive
1. Power modulator
2. Motor
3. Control unit
4. Sensing unit
22.
23. Advantages
Simple construction
Clean air environment
Requires less floor space
Electric drive robot is quiet operation
Disadvantages
Poor dynamic response
A large and heavier motor must be used. It is most costly
Electric drive system do not provide as much speed and power
compared to hydraulic system.
24. Actuators
Actuators are the device used for converting hydraulic, pneumatic and
electrical energy into mechanical energy. The mechanical energy used to
get the work done.
Types of Actuators
1. Hydraulic actuators
2. Pneumatic actuators
3. Electrical actuators
a) Servomotor
b) Stepper motor
c) AC (or) DC motor
25.
26. Hydraulic Actuators
Hydraulic actuators transform the hydraulic energy stored in a
reservoir into mechanical energy by means of suitable pumps.
Hydraulic actuators are also fluid power device for industrial
robots which utilise high pressure fluid such as oil to transmit
forces to the point of application desired
27. Characteristics of hydraulic actuating systems
The designer should know the basics of
Operating cycle
Operating pressures
Types pf pumps
Maximum and minimum operating and ambient temperatures
Loads encountered by various components
Features of the hydraulic actuating systems
High force capability
Good mechanical stiffness
High power per unit weight and volume
28. Elements of hydraulic actuation system
Hydraulic reservoir
Filters
Hydraulic pump
Cylinders
Motors
Hydraulic valve
Accumulators
Hydraulic hose
Hydraulic seal
piping
29. Types of Hydraulic Actuators
Single acting spring return type
Double acting cylinder
Ram type
30. Advantages
Self lubrication
No mechanical linkage is required
It can also provide precise control at low speeds
Capable of with standing shock loads
Greater load carrying capacity
Disadvantages
Expensive
Noisy operation
High maintenance
Not energy sufficient
Not suitable for clean environment
Leakage can occur causing a loss in performance
31. Pneumatic Actuators
Pneumatic actuators utilise pneumatic energy provided by a
compressor and transforms it into mechanical energy by means
of pistons (or) turbines. Pressurised air is used to transmit and
control power.
Features of pneumatic actuators
Limit cycling
Tend to have performance inconsistency
Pneumatic actuators are capable of modulating process control
It can handle high torque loads
32. Common parts of a pneumatic system
Compressor
Check valves
Regulators
Gauges
Accumulator
Feed lines
33.
34. Advantages
Control is simple
It is cheapest form of all actuators
No mechanical transmission is usually required
Individual components can be easily interconnected
Very quick response time and faster cycles
Disadvantages
More noise and vibration
Not suitable for heavy loads
Air compressor is required
35. Electric Actuators
An actuator obtaining electrical energy from mechanical system
is called electric actuator
Features of the electric actuators
High band with provide accurate and fast control
High maximum force allows high acceleration
36. Electrical actuators comprise the following
Drive system
1. AC motor 2. DC motor 3. Stepper motor
Switching device
a) Mechanical switch 1. Solenoids 2. Relays
b) Solid state switch 1. Diodes 2. Thyristor 3. Transistors
37.
38. Advantages
High power conversion efficiency
They are easily maintained and repaired
Structural components can be light weight
No pollution of working environment
Disadvantages
Compliance and wear problems are causing inaccuracies
A larger and heavier motor must be used which is costly
They cannot be used in explosive atmospheres
Applications
Wide range of industries where positioning is needed
Automation applications
39.
40.
41.
42. Various kind of Motors
1. Stepper motor
2. Servo motor
i) AC Servo motor
ii) DC Servo motor
43. Stepper Motor
A stepper motor is an electromechanical device. Stepper motor
is a device which transforms electrical pulses into equal
increments of rotary shaft motion called steps. It converts
electrical power into mechanical power.
48. Permanent Magnet type stepper
Motor
The permanent magnet type stepper motor has a stator. That is
of electromagnet. A rotor that is of permanent magnet.
Therefore this motor is called permanent magnet type stepper
motor.
50. Advantages
A simpler and more reliable
Field flux is less affected by temperature rise
Higher efficiency due to the absence of field losses
Less heating making it is possible to totally enclose the motor
Disadvantages
Permanent magnets stepper motor cannot produce a high flex density
Extra ampere-turns cannot be added to reduce the armature reaction
Applications
Automobiles and air conditioners
Computer drives
Electric tooth brushes, portable vacuum cleaners and food mixers
51. Variable reluctance type stepper
motor
The principle of variable reluctance stepper motor is based on
the principle of the flux lines which capture the low reluctance
path. The stator and the rotor of the motor are aligned in such as
way that the magnetic reluctance is minimum.
53. Advantages
High rate of acceleration
High torque to inertia ratio
Simple and low cost machine
Disadvantages
Generally noisy
There is no winding on rotor
Lower torque capability
54. Hybrid type stepper motor
The hybrid type stepper motor as the name recommends is a
blending of both permanent magnet type stepper motor (PM)
and variable reluctance motor (VR)
56. Advantages
It has more torque
Lower stepping rate
More efficient at low speeds
The length of step is smaller
Disadvantages
Higher inertia
If the magnetic strength is varied, the performance of the motor is
affected.
The weight of the motor is more because of the presence of the rotor
magnet.
Cost is more
58. Salient features of stepper motor
Stepper motor is small step angle
They are high stepping rate and accuracy
Stepper motor has high positioning accuracy
A stepper motor is used to achieve precise positioning is a digital
control
They are ideal for applications requiring quick positioning over a shot
distance
Capabilities of stepper motor
Precise positioning control
Finer positioning capabilities
Low speed with high precision
Easy control with pulse signals
Generating high torque with a compact size
59. Advantages
Low cost
High reliability
High torque at low speeds
Operates in almost any environment
Stepper motor is simple to operate
Disadvantages
lower efficiency
Low torque to inertia ratio
Lower power output for their weight and size
Smooth movement often requires micro stepping
Applications
Gaming machines
Textile machinery
Welding equipment
60. Servo Motor
The motors that are used in automatic control systems are called
servo motor. The servo motors are used to convert electrical signal
applied to them into an angular displacement of the shaft.
Features of the servo motor
Fast response
Steady state
stability
Wide range of speed control
Low mechanical and electrical inertia
63. Advantages
Servo motor is small and efficient
High speed operation is possible
Disadvantages
Higher cost
It is not suitable for precision control of rotation
It is not suitable if we need to prevent vibration
Uses of the servo motor
The servo motor is built into the camera to correct a lens of the camera to
improve out of focus image
The servo motor is used in textile to control spinning and weaving
machines
Used in metal forming and cutting machines to provide specific motion
control for milling machines.
64. Applications of the servo motor
Toys
Cars
Robotics
Aeroplanes
Computers
Home electronics
CD/DVD player
65. AC Servo Motor
Servo motor is basically consists of stator and rotor
66.
67. Rotor
The rotor is generally of two types.
1. squirrel cage rotor 2. Drag cup type rotor
69. 2 phase AC Servomotor
The stator of the two phase AC servo motor has the two
distributed winding which are displaced from each other by 90
degrees electrical. One winding is known as a reference phase
and other one is known as control phase
70.
71.
72. 3 phase AC Servomotor
Three sets of winding are placed 120 electrical degrees apart
with each set connected to one phase of the three phase power
supply.
When three phase current passes through the stator windings, a
rotating magnetic field effect is produced that travels around the
inside of the stator core.
73. Advantages
Less maintenance
High efficiency
High speed operation is possible
Resonance and vibration free operation
Disadvantages
Complex
Poor motor cooling
Motor can be damaged by sustained over load
Most difficult to control in position application
Application
Robotics
Machine tools
Suited for lower power application
74. DC Servo Motor
DC servo motor is more (or) less similarly to the normal DC
motor. DC motors are separately excited DC motor (or)
permanent magnet DC motor. They are controlled by armature
voltage. The armature is designed to have large resistance, so
that the torque speed characteristics are linear.
There fore a step change in the armature voltage results in quick
change in position (or) speed of the motor.
76. 1. Series Motor
The series motor have a high starting torque and draws large
current
The speed regulation of this kind of motor is poor
77. 2. Split series Motor
Split series motor with split field rate with some fractional
kilowatts
Split series motor has a typical torque speed curve
78. 3. Shunt Control Motor
It has two separate winding
1. Field winding is on the stator
2. Armature winding is on the rotor of the machine
79. 4. Permanent Magnet shunt motor
Permanent magnet shunt motor is a fixed excitation motor
where the field is actually supply by a permanent magnet
83. Advantages
Free of vibration and resonance
High torque to inertia ratio
High output than from a 50Hz motor of same size
High efficiency
Easier speed control from zero speed to full speed in both direction
Disadvantages
Overload can damage motor
Has complex architecture and requires encode
The brush turnout in limited life of 2000 hrs, then service is required
Motor does not work when something breaks, hence safety circuits are
needed