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ROBOTICS LECTURE SERIES

               By-Kuldeep
               Uttam
Basic parts of a robot

   Chassis – To provide a frame for the robot
   Motors – Locomotion
   Sensors – To interact with the surrounding
   Microcontroller- Brain of the robot
   Other Circuits –Motor Drivers etc.
   Batteries
Wheeled Locomotion Systems
   Differential drive
   Car type drive
   Skid steer drive
   Synchronous drive
   Pivot drive
   Omni drive
   3 wheel drive
Steering


   Using a guiding wheel to steer the bot
   Generally used in three wheel drive
   Not effective to take a very sharp turn
Differential Drive
   simplest and easiest to implement
   It has a free moving wheel in the front
    accompanied with a left and right wheel. The two
    wheels are separately powered
   generating a couple
   Independent drives makes it difficult for straight line
    motion
Car Type Drive
   It is characterized by a pair of driving wheels and a
    separate pair of steering wheels
   this system faces severe path planning problem
   The turning mechanism must be accurately
    controlled. A slight inaccuracy may cause large
    odometry errors
Skid Steer Drive
   It is mostly used in tracked machines e.g. tanks.
    Also finds application in some four / six wheeled
    robots
   The left and right wheels are driven independently
   Steering is accomplished by actuating each side at
    a different rate or in a different direction, causing
    the wheels or tracks to slip, or skid, on the ground
Synchronous Drive
   It is made up of a system of motors. One set of
    which drive the wheels and the other set turns the
    wheels in a synchronous fashion
Pivot Drive
   It is composed of a four wheeled chassis and a
    platform that can be raised or lowered
CASTER
WHEELS


         OMNIDIRECTION
           AL WHEELS
Continuous DC Motors
    • High power to weight ratio
    • No inbuilt control
       mechanism
    • Control system requires
       feedback

Using gears, the high speed of the motor is
traded off into torque


    Control system require h bridge or
    encoder
Stepper Motor

•angle control
•slow
•usually no feedback used
•accurate positioning
•easy to control
SERVOS
Servos are DC motors with built in gearing and feedback control
loop circuitry. And no motor drivers required!

Servo Wiring
All servos have three wires:
Black or Brown is for ground.
Red is for power (~4.8-6V).
Yellow, Orange, or White is the signal wire (3-5V).
Robotics and actuaters

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Robotics and actuaters

  • 1. ROBOTICS LECTURE SERIES By-Kuldeep Uttam
  • 2. Basic parts of a robot  Chassis – To provide a frame for the robot  Motors – Locomotion  Sensors – To interact with the surrounding  Microcontroller- Brain of the robot  Other Circuits –Motor Drivers etc.  Batteries
  • 3. Wheeled Locomotion Systems  Differential drive  Car type drive  Skid steer drive  Synchronous drive  Pivot drive  Omni drive  3 wheel drive
  • 4. Steering  Using a guiding wheel to steer the bot  Generally used in three wheel drive  Not effective to take a very sharp turn
  • 5. Differential Drive  simplest and easiest to implement  It has a free moving wheel in the front accompanied with a left and right wheel. The two wheels are separately powered  generating a couple  Independent drives makes it difficult for straight line motion
  • 6. Car Type Drive  It is characterized by a pair of driving wheels and a separate pair of steering wheels  this system faces severe path planning problem  The turning mechanism must be accurately controlled. A slight inaccuracy may cause large odometry errors
  • 7. Skid Steer Drive  It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots  The left and right wheels are driven independently  Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground
  • 8. Synchronous Drive  It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion
  • 9. Pivot Drive  It is composed of a four wheeled chassis and a platform that can be raised or lowered
  • 10. CASTER WHEELS OMNIDIRECTION AL WHEELS
  • 11. Continuous DC Motors • High power to weight ratio • No inbuilt control mechanism • Control system requires feedback Using gears, the high speed of the motor is traded off into torque Control system require h bridge or encoder
  • 12. Stepper Motor •angle control •slow •usually no feedback used •accurate positioning •easy to control
  • 13. SERVOS Servos are DC motors with built in gearing and feedback control loop circuitry. And no motor drivers required! Servo Wiring All servos have three wires: Black or Brown is for ground. Red is for power (~4.8-6V). Yellow, Orange, or White is the signal wire (3-5V).