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INTRODUCTION TO ROBOTICS PPT - kashif - 10-04-2017 INTRODUCTION TO ROBOTICS 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. (Robot Institute of America) Pick and Place Moves items from one point to another Does not need to follow a specific path between points Uses include loading and unloading machines, placing components on circuit boards, and moving parts off conveyor belts. Sensory Uses sensors for feedback. Closed-loop robots use sensors in conjunction with actuators to gain higher accuracy servo motors. Uses include mobile robotics, telepresence, search and rescue, pick and place with machine vision. Measures of performance Working volume The space within which the robot operates. Larger volume costs more but can increase the capabilities of a robot Speed and acceleration Faster speed often reduces resolution or increases cost Varies depending on position, load. Speed can be limited by the task the robot performs (welding, cutting) Resolution Often a speed tradeoff The smallest step the robot can take Kinematics and dynamics Degrees of freedom number of independent motions Translation--3 independent directions Rotation-- 3 independent axes 2D motion = 3 degrees of freedom: 2 translation, 1 rotation 3D motion = 6 degrees of freedom: 3 translation, 3 rotation |