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15 views36 pages

New Lecture

Uploaded by

lokuayyagethlokuayya
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Machines and

Intelligent Machines:
An Introduction to
Robotics
Machines
A machine is a device designed to perform a specific task, using energy to make work easier and more
efficient.
• Work in Machines:
• Work is a measure of energy transfer and is calculated as Work = Force x Distance.
• Machines help reduce the force or effort required to accomplish work, often over a distance.
• Simple Machines vs. Complex Machines:
Simple Machines:
• Basic mechanical devices with few moving parts.
• Modify force or distance to facilitate work.
Complex Machines:
• Combinations of multiple simple machines and other components.
• Perform more intricate tasks efficiently.
• Examples include cars and industrial robots.
Simple Machines
• Simple machines allow a task (moving objects) to be accomplished
more easily by optimizing the force that is used.

• Any basic device that works with the use of a single force

• Using simple machines, the force used will be reduced, but the
distance will be greater

• Simple machines are part of everyday life


Simple Machines
1. Lever

2. Pulley

3. Wheel and Axle

4. Inclined Planes

5. Screw

6. Wedge
1. Lever
• A rigid bar that pivots or turns around fulcrum

• Fulcrum – the point around which a level pivots or turns


1. Lever
• First – class level: a lever in which the fulcrum is between the
force and object being lifted

• Second – class lever: a lever in which the load is between the


force and the fulcrum

• Third – class lever: a lever in which the force is between the


fulcrum and the load
2.Pulley
• A circular lever, usually a
wheel with a rope around it

• A wheel on an axle or shaft that is


designed to support movement
and change of direction of a taut
cable or belt, or transfer of
power between the shaft and
cable or belt
2.Pulley
3.Wheel and Axle
• Wheel – a round
object that turns
around a central point
• Axle – a pin or pole
around which a wheel
revolves
• Wheel and axle is a round
object that turns around a
pin or pole
4.Inclined Plane
• A slanted surface that makes it easier to move an object between a
lower level and a higher level
5. Screw
• An inclined plan wrapped a rod, often used to hold things
around together
6.Wedge
Machine with a narrow or pointed end and one wide end, used to separate two
objects or parts
Complex Machines
• Compound machines

• Any device made up with more than one simple machine

• Can do more difficult jobs than simple machines alone


Complex Machines
Machines vs Robots
• Robot is a single combination of many machines
• Human body

• Robots are designed in such a way that it contains artificial


intelligence that makes them special

• Robots can do all that which machines can and more


• Re programmed for different tasks (machine cannot)
Machines vs Robots
• Robots are capable of doing different tasks whereas Machines
can repeat precisely predetermined motions
Machines vs Robots
• Additional Differences
• Anatomy:
Machines: Human-controlled, reliant on manual operation.
Robots: Autonomous or semi-autonomous, capable of acting on instructions.

• Sensory Input:
Machines: Limited sensory capabilities, primarily mechanical.
Robots: Equipped with various sensors for environment perception.

• Design and Development:


Machines: Designed for specific tasks, focus on efficiency.
Robots: Complex designs for versatility and adaptability.

• Software:
Machines: Simple control systems or none.
Robots: Heavily reliant on advanced software for control and decision-making.
Main Parts of a Robot
1. Controller / CPU – Brain

• Part which provides feedback to outside stimuli

Why we whip out hands away from hot stove?

• Environmental data taken using sensors and calls on its


programming to perform the appropriate action
Main Parts of a Robot
2. Sensors

• Powerhouse of
robots feedback
mechanism

• Eyes and ears to help


take in information
about its surroundings
Main Parts of a Robot
• Types of Sensors
• Light sensors
• Sound sensors
• Temperature sensors
• Contact sensors
• Proximity sensors
• Distance sensors
• Pressure sensors - grip
• Position sensors - GPS
• Vision sensors - Cameras
Main Parts of a Robot
3. Actuators - Muscles

• Small motors attached directly to the structure of the robot


that facilitate movement

• Source of energy
• Hydraulic – uses oil to facilitate movement
• Pneumatic – uses air to facilitate movement
• Electric – uses electric current and magnets to facilitate movement
• DC / AC / Stepper motors
Main Parts of a Robot
Main Parts of a Robot
4. Manipulator End-Effectors

• Tool that which performs


the actual work and interact
with the environment or a
workpiece
Main Parts of a Robot
4. End-
Main Parts of a Robot
Effectors
Main Parts of a Robot
5. Power Supply

• Stationary robots – Direct power


• Mobile robots – High capacity batteries
• Robotic probes and satellites – solar panels
Main Parts of a Robot
Considerations in Battery selection

1. Primary vs Secondary – whether


the application require single
use or rechargeable batteries
1. Primary – Alkaline
2. Secondary – NiMH, Ni-Cd, Lead
acid, Lithium - Ion
Main Parts of a Robot
Considerations in Battery selection

2. Energy vs Power – battery


runtime capacity – mAh / Ah
Main Parts of a Robot
Considerations in Battery selection
3. Voltage
The battery voltage must be compatible with the robot's electrical system. The robot's
motors, controllers, and other components are designed to operate within a certain voltage
range. Using a battery with the correct voltage ensures that the robot operates as intended.

4. Temperature
Batteries have specified operating temperature ranges. It's critical to choose a battery that
can function effectively within the expected temperature conditions of the robot's
environment. Extreme temperatures can affect a battery's performance and lifespan.
DoF of a Robot
• DoF – Degree if freedom,
• https://www.youtube.com/watch?v=DdvBrKl3SHg

• Number of independent motions a device can make

• Minimum number of independent variables required to


define the position of a rigid body in space

• Also know as the mobility


DoF of a Rigid Body
Degree of Freedom
• 3D Space = 6 DOF – 3 position + 3 orientation

• In robotics
DOF = number of independently driven joints

• As DOF increase
• Positioning accuracy decreases/ increases
• Computational complexity increases
• Cost and flexibility increases
• Power transmission is more difficult
Steps in Building a Robot
• Select Parts
• Build
• Test
• Release
Steps in Building a Robot
• Line following Robot
Steps in Building a Robot
• Step Climbing Robot

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