IE_ROBOTICS

Advantages of Pneumatic robot

- low cost to purchase and operate - can be integrated in PLC

Disadvantages of Pneumatic Robot

- low degree of accuracy - low holding strength - can't handle large and heavy loads

Cartesian Coordinate Robots (CCR)

are also typically very repeatable, have better inherent accuracy than a SCARA or jointed arm, and perform 3D path-dependent motions with relative ease. However, its key feature is its configurability

Norbert Wiener

author of "Cybernetics"

Spherical Coordinate Robots

has one linear axis and two rotary axes . Spherical robots are used in a variety of industrial tasks such as welding and material handling.

Jointed Arm Robots

has three rotational axes connecting three rigid links and a base. Frequently called an anthropomorphic arm because it closely resembles a human arm.

Cylindrical Coordinate Robots

has two linear axes and one rotary axis. The robot derives its name from the operating envelope

Karel Čapek

introduces robotics.

CONTROLLER

it activates the robot actuators, which converts power into movement

POWER SUPPLY

it drives the controller and actuators

DEGREE OF FREEDOM

it is the axis a robot has

END EFFECTOR

it is the end-of-arm tooling, or gripper. It is attached to the wrist of the robot arm for the purpose of loading, unloading, transporting parts or performing an operation on a workpiece. Example of end effectors include grippers, blowtorches, drills and spray painters

MANIPULATOR

it is the robot arm

Robot

machined formed by a mechanism, including several degrees of freedom, often having the appearance of one or several arms ending in a wrist capable of holding a tool, a workpiece, or an inspection device

Linear actuators

move in and out instead of by spinning, and often have quicker direction changes, particularly when very large forces are needed such as with industrial robotics. They are typically powered by compressed air (pneumatic actuator) or an oil (hydraulic actuator).

Electroactive polymers

new plastic material that can contract substantially (up to 380% activation strain) from electricity, and have been used in facial muscles and arms of humanoid robots, and to allow new robots to float, fly, swim or walk.

Electric motors

often brushed and brushless DC motors in portable robots or AC motors in industrial robots and CNC machines. These motors are often preferred in systems with lighter loads, and where the predominant form of motion is rotational.

Actuators

the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors that spin a wheel or gear, and linear actuators that control industrial robots in factories. But there are some recent advances in alternative types of actuators, powered by electricity, chemicals, or compressed air.

Operating envelope

the space in which a robot operates that is created by moving the axes from limit to limit.

Friction jaws

use all the force of the gripper to hold the object in place using friction.

Vacuum grippers

very simple astrictive devices, but can hold very large loads provided the prehension surface is smooth enough to ensure suction. Pick and place robots for electronic components and for large objects like car windscreens, often use very simple vacuum grippers.

industrial robots

widespread today and used to perform jobs more cheaply, or more accurately and reliably, than humans.

Computer vision

science and technology of machines that see.concerned with the theory behind artificial systems that extract information from images. The image data can take many forms, such as video sequences and views from cameras.

In 1942

science fiction writer Isaac Asimov formulated his Three Laws of Robotics

Links

section between the joints

Sensor

sends information, in the form of electronic signals back to the controller. It gives the robot controller information about its surroundings and lets it know the exact position of the arm, or the state of the world around it.

Manipulators

sometimes called as the arm

autonomous robots

appeared in the second half of the 20th century.

Advantages of Electric Robot

- fast response - high degree of accuracy, resolution and repeatability - clean and quiet - lower cost to purchase and operate

Advantage of Hydraulic Robot

- handles large and heavy loads - provides holding strength - safety

Disadvantage of Hydraulic Robot

- much maintenance is needed - expensive to purchase and operate - slow response - messy when oil leaks

Disadvantages of Electric Robot

- requires maintenance on dc motor's brushes and commutators - needs mechanical brakes to help hold the load

5 basic components of robot

-Controller -Arm -Drive -End-Effector -Sensor

Robot Configurations

1. Cartesian 2. Cylindrical 3. Spherical 4. Jointed Arm 5. SCARA

DEGREES OF FREEDOM BY THE ROBOT'S MAIN BODY (LARGE AXES)

1. arm sweep 2. shoulder swivel 3. elbow extension

DEGREES OF FREEDOM BY THE ROBOT'S WRIST (FINE AXES)

1. pitch - up-and-down motion 2. yaw - side-to-side motion 3. roll - rotational motion

SCARA Robots

A combination of the articulated arm and the cylindrical robot. This robot has more than three axes.

XYZ CONTROL

A control that uses mathematical coordinates to pinpoint the location the robot must move.

POSITIVE-STOP CONTROL

A control used by pneumatic robots where pneumatic cylinders may extend and retract until it finally reaches a stop.

POINT-TO-POINT CONTROL

A control used by programming specific points or locations where the robot must move.

CONTINUOUS-PATH CONTROL

A control used where the robot must follow a specific path at all times. It is used in spray painting, continuous cutting, and continuous welding.

ELECTRIC ROBOT

A robot that uses electric actuators such as dc or ac motors (dc motors are commonly used).

HYDRAULIC ROBOT

A robot that uses hydraulic (fluid) actuators such as hydraulic cylinders and hydraulic motors.

PNEUMATIC ROBOT

A robot that uses pneumatic (air) actuators such as pneumatic cylinder.

CYLINDRICAL ROBOT

A robot whose work envelope is cylindrical in shape. The main arm moves up and down using pneumatic cylinders, while the base moves in circular motion using a motor and gears. A wrist maybe attached to its main arm for additional degrees of freedom.

RECTILINEAR ROBOT

A robot whose work envelope is rectangular in shape. The motion of this type of robot is along a straight line using pneumatic cylinders, or stepper motors. The motion of rectilinear robots is limited.

SPHERICAL ROBOT

A robot whose work envelope is spherical in shape. The base of a spherical robot moves in circular motion (up to 210o), while its main arm moves up and down, and in and out (extension and retraction).

Series elastic actuators

A spring can be designed as part of the motor actuator, to allow improved force control. It has been used in various robots, particularly walking humanoid robots.

Isaac Asimov

Author of "Three Laws of Robotics"

robot comes from the Slavic word

Bulgarian, Russian, Serbian, Slovak, Polish, Macedonian, Ukrainian, archaic Czech

Shoulder

First joint above the the base. It is connected to the upper arm, which is connected to elbow joint.

Robota

Forced labor

JOINTED SPHERICAL ROBOT

It is a special kind of spherical robot. It is also called as ARTICULATED ARM ROBOT. One example is the SCARA (Selective Compliance Assembly Robotic Arm) which has six axes therefore increases its degrees of freedom.

LIDAR, RADAR and SONAR

Other common forms of sensing in robotics use

In 1927

Maschinenmensch ("machine-human") gynoid humanoid robot (also called "Parody", "Futura", "Robotrix", or the "Maria impersonator") was the first and perhaps the most memorable depiction of a robot ever to appear on film was played by German actress Brigitte Helm in Fritz Lang's film Metropolis.

In 1948

Norbert Wiener formulated the principles of cybernetics, the basis of practical robotics.

Air muscles

Pneumatic artificial muscles, also known as air muscles, are special tubes that contract (typically up to 40%) when air is forced inside them. They have been used for some robot applications.

Selective Compliance Assembly Robot Arm

SCARA stands for it. It is a four degree-of-freedom robot with horizontal positioning accomplished by a combined Theta 1 and Theta 2 motion, much like a shoulder and elbow held perfectly parallel to the ground.

Unimate

The first digitally operated and programmable robot

robotic arm

The most common manufacturing robot

Touch

The sensor array is constructed as a rigid core surrounded by conductive fluid contained by an elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an impedance-measuring device within the core. When the artificial skin touches an object the fluid path around the electrodes is deformed, producing impedance changes that map the forces received from the object.

Piezo motors

These work on a fundamentally different principle, whereby tiny piezoceramic elements, vibrating many thousands of times per second, cause linear or rotary motion. There are different mechanisms of operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line.

Drive

This causes the links to move into their desired position. Commonly powered by pneumatic or hydraulic pressure, or electricity.

Robotics

This describes the majority of robots fairly well. Most robots in the world are designed for heavy, repetitive manufacturing work. They handle tasks that are difficult, dangerous or boring to human beings.

gantry robot

a special type of Cartesian robot whose structure resembles a gantry. This structure is used to minimize deflection along each axis. Many large robots are of this type. The X, Y, and Z coordinates of a gantry robot can be derived using the same set of equations used for the Cartesian robot.

Controller

allows the robot to be networked to other systems, so that it may work together with other machines, processes, or robots

Muscle wire

also known as Shape Memory Alloy, Nitinol or Flexinol Wire, is a material that contracts slightly (typically under 5%) when electricity runs through it. They have been used for some small robot applications.

Mechanical grippers

come in various types, including friction and encompassing jaws.

Encompassing jaws

cradle the object in place, using less friction.

Actuators

other term for Drive

Manipulator

other term for arm

End-effector

pneumatic or hydraulic pressure, or electricity.

Arm

positions the end-effector and sensors to do their pre-programmed business

Elastic nanotubes

promising artificial muscle technology in early-stage experimental development. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10 J/cm3 for metal nanotubes

5 major components of being a human

• A body structure • A muscle system to move the body structure • A sensory system that receives information about the body and the surrounding environment • A power source to activate the muscles and sensors • A brain system that processes sensory information and tells the muscles what to do

Potential power sources could be:

• pneumatic (compressed gases) • hydraulics (liquids) • flywheel energy storage • organic garbage (through anaerobic digestion) • faeces (human, animal); may be interesting in a military context as faeces of small combat groups may be reused for the energy requirements of the robot assistant (see DEKA's project Slingshot Stirling engine on how the system would operate)