First Session
Make a move to make it move
Discussion
Time.
Absence.
Communication.
Students.
Game
Robot Evolution
http://www.youtube.com/watch?v=YSdKPxrY_gw
Video
Robots
Robots
Robots
Robot & Structure
Robot & Structure
Robot
Motion Control System
Actuator Power Source Load Power
transmission
Mechanical equations
Types of motion
• Pure Rotational.
• Pure Translational.
• Complex motion
Control Systems
Control system
Fluid power control
Hydraulic system
Pneumatic system
Electrical power control
Electrical System
Solenoids Motors
Solenoids
Motors1. DC motor
Motors1. DC motor
work principle Lorentz force
Motors
2. Stepper Motor.
Motors3. Servo Motor
Applications
DC Motor Servo Motor
Applications
Stepper Motor DC Motor
Applications
Servo Motor
Power transmission ElementsGears. Belts.
Chains
Spur Gear
Gears
Worm and Worm Wheel.
Planetary Gear
Rack and Pinion.
Straight Bevel
•Reliable performance over a wide range of loads and speeds.•Small size and compactness.•Long service life.•High efficiency (96to99%).
Main Advantages
Main Disadvantages
•Change the rotation angle between the input and output.
•Short center distance between the two shafts
Up
Belts Flat belt•Friction.•light-weight drive belts that can handle high speeds.•Substantial Tension.
Belts V-Belt.•suitable for connecting shafts that are close together.•Less tension than flat belt.
Timing Belt
Chain and sprocket
Break
كفاية كفاية كفاية
We need Five victims
Mechanical Analysis
Static analysis Dynamic analysis
Static analysis
Reactions Internal Stresses Deflection
Dynamic analysis
Kinematics
Position
Velocity
Acceleration
Kinetics
Forces
Moments
Types of motion
• Pure Rotational. • Pure Translational.
Complex Motion
•Links •Joints•Actuators•Gripper•Ground
Robot main components
Types of Links
Types of Links (Cont.)
4 bar mechanism
Crank Slider Mechanism
Quick return mechanism
Cams and followers as links
Gears as links “ dependent links”
Gear Train
Compound gear
Joints
Joints Classification
According to.
Geometry
Revolute Helix. Prismatic.,.
Order of Pairs
3D 2D
Revolute joints
Slider and half joints
Terminologies
• Link.• Chain.• Mechanism.• Machine.• Robot.
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