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31 views12 pages

Class 14

Uploaded by

anisruhan6
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Fundamental of

Mechanical Engineering
ME – 283
Credit: 3.00 Contact hour: 3.00

Course Teacher: Lecturer Md. Fahim Faisal


Contact Number: +8801521503917
Email: fahim_faisal@me.mist.ac.bd
Topic:
Introduction to Robotics

Class: 14 Section (A+B)


Date: 23 June 2024 (Sunday)
Basic Concepts
Origin of the word ‘robot’ can be traced in the Czech word ‘robota,’ which means ‘forced’ or ‘compulsory labor.’
Laws of Robotics

1. A robot must not harm a human being, nor through inaction allow one to come to harm.

2. A robot must always obey human beings, unless that is in conflict with the first law.

3. A robot must protect from harm, unless that is in conflict with the first two laws. (Isaac Asimov, 1940s)

4. A robot may take a human being’s job but it may not leave that person jobless! (introduced by Fuller (1999))
• Medical
Classifications Applications • Mining
Robots are broadly classified as: • Space
• Underwater
• Industrial and
• Defense
• Non-industrial or special-purpose • Security
• Domestic
• Entertainment
Robot Sensors and Actuators
• Sensors are devices for sensing and measuring geometric and physical properties of robots
and the surrounding environment
– Position, orientation, velocity, acceleration
– Distance, size
– Force, moment
– temperature, luminance, weight
– etc.
• Robot sensors can be classified into two groups: Internal
sensors and external sensors
Infra-red sensors touch sensors
• Internal sensors: Obtain the information about the robot
itself.
– position sensor, velocity sensor, acceleration
sensors, motor torque sensor, etc.

ultrasonic sensors
Robot Sensors and Actuators
• External sensors: Obtain the information in the surrounding environment.
– Cameras for viewing the environment
– Range sensors: IR sensor, laser range finder, ultrasonic sensor, etc.
– Contact and proximity sensors: Photodiode, IR detector, RFID, touch etc.
– Force sensors: measuring the interaction forces with the environment,
– etc
Robot Actuators
• Electrical actuators
• Hydraulic actuators
• Pneumatic actuators
• Others (SMA, heat, etc)
Hydraulic Actuator

• Drive robot joints by using the pressure of oils,


water, etc.
• Advantages: High power output
• Disadvantage:
– Difficult to control -->low accuracy
– Slow response
– Big size
– Dirty
• Early robots used hydraulic actuation
• Use liquid pressure to drive a cylinder
• Use valve to control the flow of the liquid.
• Can be modeled as mass, spring, damper
system
Pneumatic Actuation

• Drive robot joints by the pressure of air.


• Advantages:
• clean and small.
• cheap
• Disadvantage:
• difficult to control position precisely
• Mainly used in opening control of robot
grippers.
• The structure is similar to that of hydraulic
actuator
• Use air pressure to drive the pneumatic cylinder
Electrical Actuators

• Stepping motors, DC motors, AC motors and


Servo motors
• Advantages:
• small size
• easy to control, high control accuracy
• fast response
• clean
• Disadvantages:
• low power output compared to hydraulic
actuators
Power/Weight Ratio
Introduction to Motors
• Motors convert electrical energy to mechanical energy , i.e. rotation of motor shaft.
• The magnetic force turns the rotor of a motor.
• The speed of the motor can be controlled by changing the supplying voltage.
Introduction to Motors
• Motors convert electrical energy to mechanical energy , i.e. rotation of motor shaft.
• The magnetic force turns the rotor of a motor.
• The speed of the motor can be controlled by changing the supplying voltage.

Motion Transmission

• Why do we need a motion transmission mechanism?


– transfer motion from one type to another
– Change direction
– Change speed of motion
– Deliver big force

Gears

Rack and pinion


Crank, link and slider
Rotation Speed vs Gear Ratio
𝑠𝑝𝑒𝑒𝑑𝐴 𝑅𝑎𝑑𝑖𝑢𝑠𝐵 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑑𝑟𝑖𝑣𝑒𝑛 𝑔𝑒𝑎𝑟
Relationship between rotation speed and gear ratio = 𝑔𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 = =
𝑠𝑝𝑒𝑒𝑑𝐵 𝑅𝑎𝑑𝑖𝑢𝑠𝐴 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑑𝑟𝑖𝑣𝑒𝑟 𝑔𝑒𝑎𝑟

If the gear B is Revolving at 200 rpm (revolutions per minute), the output speed of gear A is:

Ans: 50 rpm

For a motor with a larger gear ratio, it can lift larger object

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