Robotics and Automation Control

1. Robotics and Automation Control Er.Rashmi Assistant Professor GNA University

2. ROBOTICS • It is ability to perform on its own, going to the extent of unmanning several operations. • To relieve man from tedious and mindless, repetitive and hazardous jobs. • Robotics in Inter dispilnary field of study

3. Important areas of robotics • ?????

4. Prothesis

5. Exoskeltons

6. cs

7. Locomotive device • Locomotive Robot series

8. Laws of Robotics

10. Functions of ROBOT • SENSING • Decision Making • Performing

11. Difference between ROBOT and Automated Machine • Automation: the machine produces a job following a set of operational jobs at different times. Different sequence can be addressed by programming.

13. Automation

15. Robot- is programmable, sensing and perception, function automatically • Carry out different tasks

16. Study about Numerically controlled technology

18. Advantages and disadvantage • ?????

19. Types of Robots • General Purpose • Special purpose welding,spray painting Telerobot Mobile robot Autonomous robot Androids

21. Basic Components of Robots • BASE • MANIPULATOR ARM • END EFFECTORS • ACTUATORS AND TRANSMISSION • CONTROLLER • SENSORS

22. MANIPULATOR ARM • Revolute pair (R)-1 DOF • Prismatic pair (P)-1 DOF • Cylindrical Pair (C)- 2DOF

26. Universal hook’s Joint

28. End effector • Gripping methods • Mechanical clamping • Magnetic gripping • Vacuum gripping

29. Actuators and Transmission • Pneumatic drives • Hydraulic drives • Electrical drives

30. Pneumatic drives

31. Hydraulic drives

32. Piezoelectric Actuators http://www.robotplatform.com/knowledge/actuators/types_of_actuators.html

33. Electrical Drives

34. Transmission

35. Controller

36. Sensors • Tactile sensors- (contact sensor) must be brought in contact with the object to obtain signals to measure the necessary qualities. • Force sensor, Torque sensors, Touch sensors, Position sensor

37. Torque sensors • Touch sensors Position sensors

38. Position sensors

39. Non tactile sensors • Contactless sensors • Proximity sensors • Electro-optical sensors • Range imaging sensors

40. Basic Motions 6 motions • Vertical motion • Radial motion • Rotational motion • Pitch motion • Roll motion • yaw

41. DOF • Horizontal travel • Rotary movement • Radial arm movement • Vertical arm movement • Rotary wrist movement • Wrist bend • Wrist sweep

42. Basic components of Microprocessor based robotic system

43. Six axes

44. Robot Classification • Standard classification • Broad classification • General classification

45. Standard Classification • Mechanical configuration based It considers various joints, links, physical structure of robot and relation to each other. • Cartesian coordinate configuration • Cylindrical configuration • Spherical configuration • Jointed-arm configuration (Revolute)

46. Control method based it considers the type of techniques implement to control the robot. i.e; 1.Non Servo controlled , 2. Servo controlled

47. Cartesian coordinate config. • Cartesian or rectilinear robot also called as gantry robot, has three mutually perpendicular axes which defines a rectangular work volume. • Links of manipulator are constrained to move in linear motion. (Prismatic) • Cartesian coordinates may be of two types. • Cantilevered Cartesian • Gantry-style Cartesian

48. Cylindrical Config. • Arm move up and down • Arm move radially w.r.t The column.Θ=360 not permitted Due to h,e,p connections or lines.

49. Spherical (polar)configuration • It has telescopic arm, which pivots about a horizontal axis and also rotates about a vertical axis. • Work envelope of such robot is a portion of sphere due to mechanical and actuators connections.

50. Range of spherical coordinate robot