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Mr302 module 4-mtr_ncerc,JVP
- 1. Introduction to robotics MODULE5 Uploaded by, Jishnu V Phalgunan Assistant Professor Mechatronics Department Nehru college of engineering and research center
- 2. Introduction to Robotics VikramKapila, Associate Professor, Mechanical Engineering
- 3. Outline • Definition • Types •Uses • History • Key components • Applications • Future • Robotics @ MPCRL
- 4. Robot Defined • Wordrobot was coined by a Czech novelist Karel Capek in a 1920 play titled Rassum ’ s Universal Robots (RUR) • Robot in Czech is a word for worker or servant Karel Capek •Definition of robot: -Any machine made by by one our members: Robot Institute of America © -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, 1979
- 5. Types of Robots:I Manipulator
- 6. Types of Robots:II Legged Robot Wheeled Robot
- 7. Types of Robots:III Autonomous Underwater Vehicle Unmanned Aerial Vehicle
- 8. Robot Uses: I Jobsthat are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant
- 9. Robot Uses: II Repetitivejobs that are boring, stressful, or laborintensive for humans Welding Robot
- 10. Robot Uses: III Menialtasks that human don’t want to do The SCRUBMATE Robot
- 11. Laws of Robotics •Asimov proposed three “Laws of Robotics ” and later added the “zeroth law” • Law 0: A robot may not injure humanity or through inaction, allow humanity to come to harm • Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm, unless this would violate a higher order law • Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law • Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law
- 13. History of Robotics:I • The first industrial robot: UNIMATE • 1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). UNIMATE originally automated the manufacture of TV picture tubes
- 14. History of Robotics:II 1978: The Puma (Programmable Universal Machine for Assembly) robot is developed by Unimation with a General Motors design support / PUMA 560 Manipulator
- 15. History of Robotics:III 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments. Adept’s SCARA robots Cognex In-Sight Robot Bm^tt Technology Manipulator
- 16. History of Robotics:IV 1995-present: Emerging applications in small robotics and mobile robots drive a second growth of start-up companies and research 2003: NASA’s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars
- 17. Knowledgebase for Robotics •Typicalknowledgebase for the design and operation of robotics systems -Dynamic system modeling and analysis -Feedback control -Sensors and signal conditioning -Actuators (muscles) and power electronics -Hardware/computer interfacing -Computer programming Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, computer engineering, and computer science
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- 19. Robot Base: Fixedv/s Mobile Robotic manipulators used in manufacturing are examples of fixed robots. They can not move their base away from the work being done. Mobile bases are typically platforms with wheels or tracks attached. Instead of wheels or tracks, some robots employ legs in order to move about.
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- 21. Sensors •Human senses: sight,sound, touch, taste, and smell provide us vital information to function and survive •Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) •Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Accelerometer Using Piezoelectric Effect Flexiforce Sensor
- 22. Vision Sensors Vision Sensor:e.g., to pick bins, perform inspection, etc. Part-Picking: Robot can handle work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. In-Sight Vision Sensors
- 23. Force Sensors Force Sensor:e.g., parts fitting and insertion, force feedback in robotic surgery Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high- skill jobs. Reducer For seriRfHPhase natching waveI ■‘tert 10 Generator
- 24. Proximity Sensors KOALA ROBOT •6ultrasonic sonar transducers to explore wide, open areas •Obstacle detection over a wide range from 15cm to 3m •16 built- in infrared proximity sensors (range 5-20cm) •Infrared sensors act as a “virtual bumper” and allow for negotiating tight spaces Infrared Ranging Sensor Example
- 25. Tilt Sensors Tilt sensors:e.g., to balance a robot Tilt Sensor Planar Bipedal Robot
- 26. Actuators/Muscles: I • Commonrobotic actuators utilize combinations of different electro-mechanical devices - Synchronous motor - Stepper motor - AC servo motor - Brushless DC servo motor - Brushed DC servo motor http://www.ab.com/motion/servo/fseries.html
- 27. Pneumatic Motor MuscleWire Hydraulic Motor Actuators/Muscles: II Stepper Motor Servo Motor Pneumatic Cylinder DC Motor
- 28. Controller • Provide necessaryintelligence to control the manipulator/mobile robot • Process the sensory information and compute the control commands for the actuators to carry out specified tasks
- 29. Storage Hardware Storage devices:e.g., memory to store the control program and the state of the robot system obtained from the sensors
- 30. Computation Hardware Computational enginethat computes the control commands
- 31. Interface Hardware Interface units:Hardware to interface digital controller with the external world (sensors and actuators) LM1458 dual operational amplifier
- 32. Robots in Industry •Agriculture •Automobile •Construction •Entertainment •Healthcare: hospitals, patient-care, surgery , research, etc. •Laboratories: science, engineering , etc. •Law enforcement: surveillance, patrol, etc. •Manufacturing •Military: demining, surveillance, attack, etc. •Mining, excavation, and exploration •Transportation: air, ground, rail, space, etc. •Utilities: gas, water, and electric •Warehouses
- 33. Industrial Applications ofRobots •Material handling •Material transfer •Machine loading and/or unloading •Spot welding •Continuous arc welding •Spray coating •Assembly •Inspection Material Handling Manipulator Assembly Manipulator
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- 35. Robots in HazardousEnvironments TROV in Antarctica operating under water HAZBOT operating in atmospheres containing combustible gases
- 36. Medical Robots Robotic assistantfor micro surgery
- 37. Robots in Military SPLITSTRIKE: Deployed from a sub’s hull, Manta could dispatch tiny mine- seeking AUVs or engage in more explosive combat. GLOBAL HAWK ISTAR GOLDENEYE
- 38. Sony SDR-3X EntertainmentRobot Robots at Home Sony Aido
- 39. Future of Robots:I Artificial Intelligence Kismet
- 40. Future of Robots:II Autonomy Robot Work Crews Garbage Collection Cart
- 41. HONDA Humanoid Robot Futureof Robots: III Humanoids
- 42. Robotics @ MPCRL: RemoteRobot Arm Manipulation
- 43. Robotics @ MPCRL: SmartIrrigation System
- 44. Robotics @ MPCRL:RoboDry
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- 46. Robotics @ MPCRL:Hexapod for Disaster Recovery
- 47. Robotics @ MPCRL:Hexapod for Disaster Recovery
- 48. Robotics @ MPCRL: RoboticVacuum Cleaner
- 49. Robotics @ MPCRL: AutomatedDistinguisher
- 50. Robotics @ MPCRL: AutomatedDistinguisher
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