Introduction to Robotics
What is a Robot ?
Robotics - A Multidisciplinary Domain
Robots - Application Examples
Sophia - The Humanoid Robot
A Robot Serving Food
Surveillance Robot for Parking Area
Robots dousing the uncontrollable fire - very difficult for fireman.
Robots for E-Commerce & Logistics
Ware House Robots
Power Substation Robot for Autonomous Inspection
Robots by Boston Dynamics–Humanoid & Legged
We live in a World of Sensors. You can find different types of Sensors in our homes, offices, cars etc. working to make our lives easier by turning on the lights by detecting our presence, adjusting the room temperature, detect smoke or fire, make us delicious coffee, open garage doors as soon as our car is near the door and many other tasks.
A sensor is a device, module, machine, or subsystem whose purpose is to detect events or changes in its environment and send the information to other electronics, frequently a computer processor. A sensor is always used with other electronics.
Sensors – for Position, Distance & Orientation
Sensors – Different types
The robot connects to a computer, which keeps the components of the robot working together. This computer is the controller. The controller functions as the "brain" of the robot.
The controller can also network to other systems, so that the robot may work together with other machines, processes, or robots.
Controllers/Computers for Robots
An actuator is a part of a device or machine that helps it to achieve physical movements by converting energy, often electrical, air, or hydraulic, into mechanical force. Simply put, it is the component in any machine that enables movement.
Two basic motions are rotary and linear.
Rotary actuators convert energy into rotational motion or torque.
Linear actuators convert energy into straight line motions, typically for positioning applications, and usually have a push and pull function.
Motors– The Rotary Actuators
Motors are used with required reduction gearing/gearbox to produce the output torque needed in application.
Motors – DC Motor Types
- Lead Screw
- Ball Screw
- Timer-Pulley & Guide Rod
Functioning of Robots - An Overview
Wheeled & Tracked Robots
Two Wheel–Self Balancing Mechanism
Differential Drive - Mechanism
Skid Steer - Mechanism
Skid Steer-Industrial/Heavy Vehicle Applications
Skid Steer Robots & Robotic Kits at Stepupify Labs
Skid Steer – Research Robot Platforms
Tracked Robot – Skid Steer Mechanism
Pragyan Rover by ISRO – Application of Skid Steer
Mecanum Wheel Drive
Omni Wheel Drive
Mars Rover - Rocker Bogie Suspension
Skid Steer & Rocker Bogie Suspension
Application of Manipulators
Forward Kinematics & Inverse Kinematics
Maths Involved :
SCARA - 2 DOF for positioning in plane
Inverse Kinematics of SCARA
Forward Kinematics & Inverse Kinematics - Methodology
5 DOF Manipulator - Kinematics
Inverse Kinematics – Process in Action On Robot
Inside Manipulator – Harmonic Drives (High Reduction to Weight Ratio)
Speed-ratios-as high as 320 to 1 in single- reduction Harmonic Drives-that are lighter, smaller, and more efficient than conventional high-ratio drives. Compound-drives-can produce-ratios-as high as 1,000,000 to 1.
Harmonic Drives – Backlash free required for repeatability & accuracy in positioning of end-effector . It provides massive torque amplification for lifting payloads with lesser weight.
Crab like Robots – Quadruped , Hexapod, Octopod, etc
DIY Quadruped robot :
Human Like Walking Robot
HRP-4C Miim's Human-like Walking
Gait Generation for Legged Robots
Gait generation –formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path.
Modelled using - kinematic, collision, terrain, support, and stability constraints available for gait generation
Gait Generation Examples
Atlas – Boston Dynamics
Robots /Robotics Kits for Education & Research
Visit here to watch the videos of Educational Robots on YouTube: Educational Robots at Stepupify Labs