Post on 17-Dec-2014
description
BASIC ROBOTICS WORKSHOP
WELCOME
ABOUT ME
• Working for 2 years in ROBOMANIPAL, the official robotics team of MIT. Represented MIT in the top 12 teams of India at ABU ROBOCON.
• Active participant and winner of various technical events in MIT – trebot, image processing, 555 timer, mars rover, arduino hackathon, etc.
ABOUT ME
• Interned at Fracktal works, a 3-D printer research and business start up.
• Interned at Sirena Technologies. Worked on Humanoid-Machine interface, Simulations and Android Development.
• Working on a Mining Surveillance and Survey Robot with NIT-K for the last 6 months.
Robots in daily lifeSheldon’s Virtual Presence Device
ROBOTS IN DAILY LIFE
HISTORY OF ROBOTS
HISTORY OF ROBOTS
• 1495 AD – Designs for humanoid robot
HISTORY OF ROBOTS
1739 AD – Vaucanson’s digesting duck
HISTORY OF ROBOTS
• 1898- Tesla demonstrates the first radio controlled (wireless) vessel (torpedo)
HISTORY OF ROBOTS
• 1961 – Motor assembly robotic arm by George Devol.
DEFINITION KYA HAI?
DEFINITION
A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.
IDEAL TASKS
Tasks which are:–Dangerous• Space exploration• chemical spill cleanup• disarming bombs• disaster cleanup
DAKSH by DRDO
IDEAL TASKS
–Boring and/or repetitive•Welding car frames•part pick and place•manufacturing parts.
Industrial Robotic Arm
IDEAL TASKS
–High precision or high speed• Electronics testing• Surgery• precision machining.
Automated Surgery
A BASIC ROBOT
CHASSIS
MOTORS
WHEELS
BATTERY
SWITCH
WIRES
CHASSIS
CHASSIS
CHASSIS
WHEELS
DIFFERENTIAL DRIVE
DIFFERENTIAL DRIVE
OMNI WHEELS
OMNI WHEEL BOT
MECANUM WHEEL
MECANUM WHEEL BOT
MECANUM WHEELCHAIR
1. A robot may not injure a human being or, through inaction, allow a human being to come to harm.
2. A robot must obey orders given it by human beings except where such orders would conflict with the First Law.
3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
ROBOT LAWS
MOTORS
• ANIMATION – DC BRUSHED MOTOR
• ANIMATION – DC BRUSHLESS MOTOR
MOTORS
MOTORS
• STEPPER MOTORS• SERVO MOTORS
MOTORS
MOTOR TORQUE CALCULATIONS
MOUNTING MOTORS
HOW DO YOU MOUNT THE MOTORS TO YOUR CHASSIS?
MOUNTING MOTORS
• L- CLAMPS
MOUNTING MOTORS
• U CLAMPS
BATTERIES
•
• LEAD ACID
BATTERIES
•
• 9 V TRANSISTOR BATTERY
BATTERIES
• \
• Li-ion Battery
BATTERIES
• LITHIUM • POLYMER• BATTERY
BASIC PARTS OF ROBOTICS
Basic PartsMechanical
system
Power supply system
Actuators (Motors, IC
engines, Pneumatics, Hydraulics)
Sensors
Controllers (Switches, PC,
PLC, uP, uC)
SWITCH
SWITCH
SWITCH
H-BRIDGE
An H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction.
DPDT SWITCH
• DOUBLE POLE DOUBLE THROW SWITCHES
TYPES OF SWITCHES
THE BOT IS READY!
H-BRIDGE
An H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction.
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical– Double Helical
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical– Double Helical– Bevel
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm– Rack and Pinion
Gears
• Gears are machine elements that transmit motion by means of successively engaging teeth.
• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm– Rack and Pinion– Planetary Gears
Mobile Robot LocomotionThere are various drives for a mechanical
system◦Differential Drive
◦Ackerman Steering
◦Synchronous drive
◦Tricycle Drive
Some basic electronic components
• 1. Resistors
RESISTOR COLOR CODES
• Reading a Resistor
RESISTOR CODES
B.B. ROY of Great Britan has a Very Good Wife
Pull up and pull down resistors
CAPACITORS
Zener diodes
• Used as a voltage regulator
7805 voltage regulator
7805 voltage regulator
Transistors
MICROCONTROLLER
• Say Hello to your best friend from now :
ARDUINO
ARDUINO UNO
Arduino and Breadboards
Baisc Sensor Circuit
Basic Motor Circuit without Motor Driver
Serial Communication
INTERRUPTS
Analog Line Follower vs Digital Line Follower
Analog Line Follower vs Digital Line Follower
SEE YOU TOMORROW
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