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Mechanical Designs of robots

Mechanical Designs of robots. We will compare robots A, B, C, D, E, F Robot can be prototyped with Lego NXT Then we can add components from Tetrix

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Mechanical Designs of robots

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  1. Mechanical Designs of robots

  2. We will compare robots A, B, C, D, E, F • Robot can be prototyped with Lego NXT • Then we can add components from Tetrix • It is often faster, cheaper and better to design the robot from wood, plastic and metal by yourself and only use gears and motors with encoders from Tetrix. • We use this approach in our theatre. • Needs: • Doll grabbing (lifting) • Linear motion • Base control Robot that delivers stuff to locations How to design mechanically robots that can grab some items and deliver to certain locations?

  3. Robot A • Deliver dolls to locations • Grabs an item • Releases the item • Can be used to deliver little robot actors to locations in robot theatre • Uses line following

  4. Robot takes some object (a doll) in place X and delivers it to the location in place Y

  5. Robot D • The same as before, robot delivers dolls to locations

  6. Robot B

  7. Robot B • Robot delivers dolls to locations, as before

  8. Robot C- to play volleyball • Robot plays volleyball

  9. Robot to play hockey

  10. Robot to play hockey

  11. Robot to play hockey

  12. Robot to play hockey

  13. Robot to play hockey

  14. Philosophy How to Design a Robot

  15. General Design Considerations • Effectiveness • Does the robot do what you want it to? • Speed & accuracy • Reliability • How oftenwill it work? • Ease of Implementation • Balance complex, effective solutions with simple to build solutions • Faster implementation means that you have more time allowed for debugging, • and probably, it means less debugging

  16. Effectiveness Mechanical • – Bearing surfaces • – Stiffness • – Appropriate constraints on degrees of Freedom • – Gearing • – Speed • – Low mass / moment of inertia • Electrical • Multiple stages • Efficient use of inputs/outputs • Low power usage • Effective Motor use • Sensor placement /use

  17. Reliability • Electrical • Circuit modularity • Grounding • Shielding • Mechanical • – Stiffness • – Appropriate constraints on degrees • of freedom • – Simplicity

  18. Ease of Implementation • Electrical • Multiple stages • Board layout – related ccts on 1 board • Circuit modularity • Accessibility • Mechanical • Off-the-shelf parts • Simplicity • Design for loose tolerances

  19. Grabbing Items Using some intelligence

  20. Tower of Hanoi Problem • Write the software for Tower of Hanoi Problem for a robot, with few pegs only. • Write the recursive software.

  21. Robot Theatre

  22. Projects from Lego Robots A piano-playing robot The piano-playing robot positions itself correctly in front of the piano (using a camera following a color target) and then plays with its two-fingered hand.

  23. Projects from Lego Robots • Smiley face also has a small camera that tracks colors so it can follow the orange target. • The mouth and eyebrows move using servo motors. Smiley face robot chases the moving orange target. The eyebrows and mouth move to show happy and sad.

  24. Robots for Autism Therapy Teleoperated bear developed at MU University of Hertfordshire UK Yale University University of Sherbrooke

  25. Sensors for TigerPlaceto Help Older Adults Age Safely

  26. Basic Sensors

  27. Detection of Falls See also http://eldertech.missouri.edu

  28. The robot theatre concept hands head PC Personal computer Bluetooth connection GPU supercomputer

  29. This generic situation, where the robot’s behavior is conditioned upon the input from the feature detectors connected to the camera, maps to a constraint satisfaction problem as described here. • The way this would work is that the human / camera / robot system would generate optimization and satisfiability problems, to determine how the robot’s effectors should fire, and these problems can be remotely solved using Orion. • For example, you could acquire a Hansen Robotics Einstein, sit it him on your desk, train a camera on your face, use an anger feature detector that causes the Einstein robot to laugh harder the angrier you get.

  30. BIBLIOGRAPHY • Programming and Customizing the PIC microcontroller by Myke Predko • PICmicro Mid-Range MCU Family Reference Manual by MICROCHIP • PIC Robotics, A beginner’s guide to robotics projects using the PICmicro by John Iovine

  31. …BIBLIOGRAPHY Websites referred… • The Seattle Robotics Society Encoder library of robotics articles • Dallas Personal Robotics Group. Most of these tutorials and articles were referred. • Go Robotics.NET, this page has many useful links to robotics articles.

  32. …BIBLIOGRAPHY • Carnegie Mellon Robotics Club. This is the links page with lots of useful resources • This page is called the “Micro-mouse Handbook” and an excellent tutorial for small scale robotics. • This is the main website of microchip. Thousands of application notes, tutorials & manuals can be found here.

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