Howard Carter, George T. Baker Aviation Technical College ...teched.dadeschools.net/STEMdocs/Robotic...
Transcript of Howard Carter, George T. Baker Aviation Technical College ...teched.dadeschools.net/STEMdocs/Robotic...
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Howard Carter, George T. Baker Aviation Technical College,Miami-Dade County Public Schools
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Types of Robotics
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Type II Robot
Wheeled RobotLegged Robot
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Robotics Tasks
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Jobs that are dangerous
for humans
Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
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Repetitive jobs that
are boring, stressful,
or labor-intensive for
humans
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The SCRUBMATE Robot
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Knowledge for Robotics
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Disciplines: mathematics, physics, biology, mechanical engineering,
electrical engineering, computer engineering, and computer science
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Key Components
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Base
Manipulator
linkage
Controller
Sensors Actuators
User interface
Power conversion
unit
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Inclined plane wedge
Slider-Crank
Cam and Follower
Gear, rack, pinion, etc.
Chain and sprocket
Lever
Linkage
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Accelerometer
Using Piezoelectric Effect
Flexiforce Sensor
•Human senses: sight, sound, touch, taste, and
smell provide us vital information to function
and survive
•Robot sensors: measure robot
configuration/condition and its environment and
send such information to robot controller as
electronic signals (e.g., arm position, presence
of toxic gas)
•Robots often need information that is beyond 5
human senses (e.g., ability to: see in the dark,
detect tiny amounts of invisible radiation,
measure movement that is too small or fast for
the human eye to see)
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In-Sight Vision Sensors
Vision Sensor: e.g., to pick bins,
perform inspection, etc.
Part-Picking: Robot can handle work
pieces that are randomly piled by using
3-D vision sensor.
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Force Sensor: e.g., parts fitting
and insertion, force feedback in
robotic surgery
Parts fitting and insertion: Robots
can do precise fitting and insertion of
machine parts by using force sensor. It
can automate high-skill jobs.
Force Sensors
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KOALA ROBOT
Example
•6 ultrasonic sonar transducers to explore wide, open areas
•Obstacle detection over a wide range from 15cm to 3m
•16 built-in infrared proximity sensors (range 5-20cm)
•Infrared sensors act as a “virtual bumper” and allow for
negotiating tight spaces
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Example
Planar Bipedal Robot
Tilt sensors: e.g., to balance a robot
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Gear, rack, pinion, etc.
Pneumatic Cylinder
Servo MotorStepper Motor
Pneumatic Motor
Hydraulic Motor
DC Motor
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Provide necessary intelligence to control the
manipulator/mobile robot
Process the sensory information and compute the
control commands for the actuators to carry out
specified tasks
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Storage devices: e.g., memory to store the control
program and the state of the robot system obtained
from the sensors
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RoboBoard Robotic Controller RoboBoard Robotic Controller
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LM358 LM358
LM1458 dual operational amplifier
Interface units: Hardware to interface digital
controller with the external world (sensors and actuators)
Operational Amplifiers Analog to Digital Converter
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Applications
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Industrial RobotsMaterial Handling
ManipulatorAssembly Manipulator
Spot Welding Manipulator
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NASA Space Station
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TROV in Antarctica
operating under water
HAZBOT operating inatmospheres containingcombustible gases
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Robotic assistant for
micro surgery
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Future
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Kismet
Artificial Intelligence
Cog
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Garbage Collection Cart
Robot Work Crews
Autonomy
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Humanoids
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Robotic @ GTBTC
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Helping Hands
Parallax Roaming BoeBot
Flight Sim 1& 2
Vex Robotics
Areo-Robotics
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Platform: Basic Stamp
Language: Basic
Programmer: Basic
Stamp Editor
Actuator: DC Motors
Documents:
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Platform: Basic Stamp
Language: Basic
Programmer: Basic Stamp Editor
Actuator: DC Motors
Documents:
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Platform: Arduino Mega
Language: Sketch (C, C++)
Programmer: Arduino Software
(IDE)
Actuator: DC Servo
Documents:
Simulation Software: MS Flight
Sim X
Motion Software:
Link2fs_inout
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Platform: Picaxe
Language: Basic
Programmer: Picaxe
Programming Editor
Actuator: Linear / Resistive
Documents:
Simulation Software: MS Flight
Sim X
Motion Software: BFF 6 DOF
Motion Driver V3.0
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Platform: Vex Microcontroller
Language: C, C++
Programmer: Robot C
Actuator: DC Motor / Servo
Documents:
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Platform: Ardupilot (Crossfire Quad)
Language: Sketch (C, C++)
Programmer: Arduino Software (IDE)
Actuator: DC Motor
Documents:
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The End
George T. Baker Aviation Technical College,Miami-Dade County Public Schools
3275 NW 42nd AvenueMiami, Florida 33142
www.bakeraviation.edu