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

Robot Architecture

Sensors

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

Controller

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

RaspberryPi - ARM Cortex-A: A Single Board Computer

Actuators

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

Linear Actuators

Lead Screw
Ball Screw
Timer-Pulley & Guide Rod

Functioning of Robots - An Overview

Wheeled & Tracked Robots

Unicycle Robot

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

Duct Inspection Robot

Path Finder Robot

Skid Steer – Research Robot Platforms

Tracked Robot – Skid Steer Mechanism

Pragyan Rover by ISRO – Application of Skid Steer

Synchro Drive

Mecanum Wheel Drive

Omni Wheel Drive

Mars Rover - Rocker Bogie Suspension

Skid Steer & Rocker Bogie Suspension

Pragyan Rover Mechanical Model : Rocker Bogie Suspension – made by Students at Stepupify labs

Manipulators

Kuka Manipulator - Playing Table Tennis

Delta Robot - Pick & Place Operation

Application of Manipulators

Forward Kinematics & Inverse Kinematics

Maths Involved :

Transformation Matrix
Jacobian
D-H Parameters
Numerical Methods

SCARA - 2 DOF for positioning in plane

Inverse Kinematics of SCARA

Forward Kinematics & Inverse Kinematics - Methodology

5 DOF Manipulator - Kinematics

Inverse Kinematics Calculation Methodology:

DH Parameters
Numerical Methods

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.