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8/10/2019 Lect 1 robotics.pdf
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Macro, Micro and Nano Robotics
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Dr. S. S. OHOL,
In-Charge Robotics & Automation Laboratory ,
Mechanical Engineering Department,
&
Faculty coordinator Robot Study Circle ,
College of Engineering , Pune 411 005.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
MACRO, MICRO & NANOROBOTI ) MACRO ROBOTS 1) Industrial :- Material Handling / Manuf. Processes.etc
2) Domestic \ Service Robots :-Entertainment, Road cleaning,
Construction, Hazardous, Surveillance, Human Assist, .etc.
3) Military Robots :- War \ Weapons, UAVs, UUVs, Tank Type etc
4) Miscellaneous :- Surgery ( Da- Vinchi Systems )
I I) MICRO ROBOTS 1) Industrial
2) Domestic \ Service Robots :- Floor Cleaning, Human Assist,Entertainment --- Bugs, Flying Types, Insect etc
3) Military Robots :- Spy \ Flying \ Underwater
4) Miscellaneous
I I I) NANO ROBOTS 1) Industrial2) Domestic \ Service Robots :- Medical \ Drug Delivery \
Surgery.etc
3) Military Robots
4) Miscellaneous :- Bush \ Fractal \ SWARM
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
THE WORD ROBOT
The word robot was first used in 1921 by the
Czech Playwright ,novelist and essayist KarelCapekin his satirical drama entitled R.U.R.
( Rossums Universal Robots ).
It is derived from the Czech word Robotawhich means forced laborer or slave laborer
. The term robotics was coined by IssacAsimov in his short story Runaroundpublished in 1942.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
WHAT IS ROBOT
A mechanical device that
sometimes resembles a human being
and is capable of performing a
variety of often complex human
tasks on command or by being
programmed in advance.
A machine or device that operates
automatically or by remote control.
A person who works mechanically
without original thought, especially
one who responds automatically to
the commands of others.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
DEFINITIONS OF ROBOT
RIA Definition (RoboticsIndustrial Association formerlyKnown as Robotics Institute OfAmerica):
A re programmablemultifunctional manipulatordesign to move material,parts, tools or specialized
devices through variableprogrammed motions for theperformance of a variety oftasks.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
JIRIA Definition(Japan IndustrialRobot IndustryAssociation ) :
Industrial robot is an all
purpose machineequipped with amemory device and aterminal , and capableof rotation and of
replacing human laborsby automaticperformancemovements
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
WEBSTER Definition :
( Well known person in thearea of CAD / CAM andRobotics )
A device that performs
functions ordinarily
ascribed to human beings
or operates with whatappears to be almost
human intelligence .
ISO 8373
An Automatically
controlled,reprogrammable,
multipurpose
Machine used for
industrial utilities
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
THREE LAWS OF ROBOTICS( zeroth law is introduced in 1985 )
0. A Robot may not injure humanity , or , throughinaction allow humanity to come to harm
1. A robot may not injure a human being, or, throughinaction, allow a human being to come to harm , unlessthis would violate zeroth law
2. A robot must obey the orders given to it by humanbeings except where such orders would conflict with thefirst law.
3. A robot must protect its own existence as long assuch protection does not conflict with the first or secondlaw.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Automation
Fixed Programmable Flexible
Robotics
Mobile Robot Industrial
Robot
Miscellaneous
Wheeled robots
Legged Robots
Polar Sys
Cartesian Sys
Cylindrical Sys
Joint Arm Sys
Limited Sequence Robot
Playback Robots
Point to point Control
(Based on CS)
Nano-Robots
Web Robots
Fractal Robots
PLACE OF ROBOT IN AUTOMATION
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Need of Robotisation
Increased Productivity
Decreased Labours Cost
Improvisation of Quality
Reduction of Inventory
Elimination of Dangerous / Undesirable Jobs
Minimisation of Wastages
Higher Flexibility in Production
Less Material Movement
Reduced Set-up Time
Flexibility in Planning
Improved Image of Company Export Considerations
Improved and Safe Environment
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Fears about Robotisation
Replacing Human Being at every Level
Higher Production causes unemployment
Robot may control Human activities / life Uncontrolled Robots not safe for Humans
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Areas of Developments for Robot
Technology Related to Artificial Intelligence ( AI )
Reasoning & problem solving
Knowledge representation and commonsense knowledge Automated planning and scheduling
Machine learning
Speech Processing & Recognition
Motion Planning & Odometry Computational creativity
Image Processing
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
TYPES of ROBOTS Domestic Robot
Industrial Robot
Military Robot
Underwater Robot
Robot for Construction
Robots for Medical Application
Webots
Bio-mimetic Robots
Robots in Hazardous Area
Humanoids
Robots for Education Biped Robot
Flying Robot
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
I) Industrial Robots / Robot Arms
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
II ) Domestic /Service robots
Toy Robots
Robot for Assistance
I-Cybie from SilverlitAIBO (1st 1999) , AIBO( 2000 ), AIBO ERS7 (2005) and AIBO PS ( 2008 ) from Son y
The Battlefield Extraction-Assist Robot
1) Entertainment
2) Road cleaning
3) Construction
4) Hazardous
5) Surveil lance
6) Human Assist
7) Transportation
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Entertainment and Education Robot Dog & Cat type toy Robots
Sony AIBO
CYBIE
Trainer robo-kits Robots
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
II ) Domestic / Service robots
Floor cleaningRobots
Spray painting Robots
Toy Robots
Robot for
Assis tance
Robot as lawnmowers
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
TANK TYPE ROBOTS
with the PASSIVE COMPLIANCE
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Unmanned Flying Machines
Predator drone
U-2 B-737Global Hawk
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
IV Construction RobotsCivil Engg Appl ications : Automatic excavation , Tele-operatedcompactor ,Wall erection , Concrete floor finishing
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
V Surgery Robots - The Da Vinci Surgical
system
Few Types :
Robodoc, Caspar, Puma 560 - orthopedic surgeryProbot : Prostatectomy robotMinerva : Neurosurgery robot
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Personal robots HAZBOTUsed in dangeroussites for handling of hazardous materials
e.g. Nuclear plant and chemical plant
VII Miscellaneous
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Telerobots developed for exploration of the Mars
Sojourner/ Pathfinder
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
2) COCKROACH ROBOT
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
MICRO ROBOTS
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Micro-Flying Robot
Seiko Epson Corporation has developed a microrobot named FR-II. The robot
is the successor to the original FR, which used to be the worlds smallest and
lightest micro-flying robot; the newer version includes Bluetooth wireless
control and independent flight capabili ty.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
NANO ROBOTS
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
NANO ROBOTS
Programmable assembly of nm-scale components either by
manipulation with macro or micro devices, or by directed
self-assembly.
Design and fabrication of robots with overall dimensions ator below the mm range and made of nm-scale components.
Programming and coordination of large numbers (swarms)
of such nanorobots.
Applications, especially biology, medicine and the
environment.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Nanorobot for Medical Field
1.implants a tiny robot into your bloodstream
2. robot detects the cause of your fever
3. travels to the appropriate system and provides a
dose of medication directly to the infected area.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
The robot in this illustration swims through the arteriesand veins using a pair of tail appendages.
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Bush Robot/ Fractal branching
ultra-dexterous robot
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Making a Pattern
Baur et al. (1997) J. Vac. Sci. & Techn. B 15, 1577
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Microorganism Detection
algae
antibodyElectrode
PEI/PEGNanowire/Nanotube
Si Substrate
SiO2
Zhou et al., USC
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Statistics for use of Robot
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Production of Robots
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
Applications of Robots
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
IFR (International Federation of Robotics)
Trend for use of Robot
Industrial
Use
All Sectors
Use
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
IFR (International Federation of Robotics)
Trend for use of Robot
Industrial
Use
All Sectors
Use
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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE
ThanksDepartment of Mechanical Engg.,
K Js Educational Institutes
K J College of Engineering and
Management Research,
Pune
WISH YOU
A VERY HAPPY
and
PROSPOROUS
NEW YEAR 2012