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Introduction to the Robotic

Introduction to the Robotic. Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation . Universidad Cardenal Herrera CEU Halmstad, 15.07.14. Introduction. Definition:

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Introduction to the Robotic

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  1. Introduction to the Robotic Name: Núria Rosillo Guerrero Faculty: Computer Science Engineering Department: Mathematics Science and Computation Universidad Cardenal Herrera CEU Halmstad, 15.07.14 Núria Rosillo Guerrero

  2. Introduction • Definition: • A reprogrammable and multifunction machine designed to move materials, tools or specialized instruments, by programmed movements to carry out a variety of tasks. • Characteristics: • Versatile • Flexibility • Environment adaptable ... Núria Rosillo Guerrero

  3. Types of robots Androids Mobiles ... Núria Rosillo Guerrero

  4. Types of robots Industrial Robots Medical ... Núria Rosillo Guerrero

  5. Types of robots • Tele operators • Poliarticulated • Mobiles • Androids • Zoomorphic • Hybrids ... Núria Rosillo Guerrero

  6. Historic Review Greek mythology has featured many mechanical beings. Machines designed for human comfort we recurrent in Arab civilizations. ... Núria Rosillo Guerrero

  7. Historic Review First person who employed the word Robot was Karel Capek ... Núria Rosillo Guerrero

  8. Historic Review • Isaac Asimov coined the term robotic and he published three famous robotic laws : • A robot can't damage a human being, nor allow this to be damaged. • A robot must obey a human order, except when these orders clash with the first law. • A robot must always protect themselves as long as this protection doesn’t clash with the first and second laws. ... Núria Rosillo Guerrero

  9. Historic Review The first version were the programmable machines in the XVIII and XIX century. ... Núria Rosillo Guerrero

  10. Historic Review ... Núria Rosillo Guerrero

  11. Historic Review ... Núria Rosillo Guerrero

  12. Historic Review • External sensors. • Dynamic Control. • Redundant robots. ... Núria Rosillo Guerrero

  13. Historic Review Waited increasing at the robotics industry Table 1: Acquisition Robots Percentages according to its function in U.S ... Núria Rosillo Guerrero

  14. Historic Review Current robotics limits • Six precisions joints between the robots base and the manipulator extreme • Simple and intuitive programming. • Adaptation to the environment by sensorial stimulations. • Movement margin in ranges of 0.3 mm. • Capability to manipulate weights until 150 kg. • Point to point movement control and trajectory follow-up. • To synchronize with with mobiles targets. • Compatibility with PC’s. • High reliability (during at least 400 work hours). • Artificial vision that includes at least orientation and recognition capability. • Tactile sensors. • Coordination of the different parts of the unit. • Capability of trajectory correction on-line. • Mobility. • Movement optimization. • Energy conservation. • General purposes appendices. • Voice communication • Security according the Asimov laws. Núria Rosillo Guerrero

  15. Robots Components • The manipulator. • The sensors. • The control unit. • The power convert unit. ... Núria Rosillo Guerrero

  16. Robots Components • The manipulator • It constitutes the mechanical structure of the robot. • Classes of kinematic pairs: • Revolution pairs. • Prismatic pairs. ... Núria Rosillo Guerrero

  17. Robots Components ... Núria Rosillo Guerrero

  18. Robots Components ... Núria Rosillo Guerrero

  19. Robots Components • The sensors • Classification: • Internal sensors • External sensors ... Núria Rosillo Guerrero

  20. Robots Components • The Unit Control • Functions: • Beginning and end of the movement of the individual components of the manipulator in a sequence of specified points. • Data is stored in its memory, about the position and sequence of movements. • It permitsthe robot to interact with the environment by means of sensors. ... Núria Rosillo Guerrero

  21. Robots Components Power conversion Unit Its mission is to provide the necessary energy to the engines. It can be a power amplifier in the case of the systems moved by servos, or it can be a compressor in the case the robot uses pneumatic o hydraulic system Núria Rosillo Guerrero

  22. Robots Specifications • Main specifications: • Load capacity. • Mobility. • Work Space . • Agility. • Precision and repeatability. • Work Environment. ... Núria Rosillo Guerrero

  23. Robots Specifications Load Capacity It’s the maximum weight that it can move under any configuration. ... Núria Rosillo Guerrero

  24. Robots Specifications Mobility The mobility is determined by the total number of independent movements that the robot is able to do. The movements can be displaced or rotations. ... Núria Rosillo Guerrero

  25. Robots Specifications Work Space It`s the space region composed by all the points that can be reached by the end of the arm o any point of the wrist, without taking the tool into account. The volume and the shape of the work space is very important for industrial applications, because they determine the robots capabilities. ... Núria Rosillo Guerrero

  26. Robots Specifications Work Space ... Núria Rosillo Guerrero

  27. Robots Specifications Agility It`s measurement by two parameters: maximum velocity and maximum accelerations ... Núria Rosillo Guerrero

  28. Robots Specifications Precision and Repeatability Precision: Capability to position the terminal element at a point in its work space. Repeatability: it is the measurement of the robot’s ability to situate its terminal element in the same point several times. ... Núria Rosillo Guerrero

  29. Robots Specifications Work Environment Robots normally work in contaminated environment or under extreme temperatures, and it has to be designed to fit this kind of atmosphere.. Núria Rosillo Guerrero

  30. Classification Classification based on the mechanical configuration of the robot Classification based on the type of control. Núria Rosillo Guerrero

  31. Classification based on a mechanical configuration Robots with cylindrical coordinates ... Núria Rosillo Guerrero

  32. Classification based on a mechanical configuration Robots with spherical coordinates ... Núria Rosillo Guerrero

  33. Classification based on a mechanical configuration Robots with articulated arms • Spherical. • Parallelogram. • Cylindrical. ... Núria Rosillo Guerrero

  34. Classification based on a mechanical configuration Spherical ... Núria Rosillo Guerrero

  35. Classification based on a mechanical configuration Spherical ... Núria Rosillo Guerrero

  36. Classification based on a mechanical configuration Parallelogram ... Núria Rosillo Guerrero

  37. Classification based on a mechanical configuration Parallelogram ... Núria Rosillo Guerrero

  38. Classification based on a mechanical configuration Cylindrical ... Núria Rosillo Guerrero

  39. Classification based on a mechanical configuration Cylindrical ... Núria Rosillo Guerrero

  40. Classification based on a mechanical configuration Robots with Cartesian coordinates • Type Projection. • Type Portico. ... Núria Rosillo Guerrero

  41. Classification based on a mechanical configuration Projection ... Núria Rosillo Guerrero

  42. Classification based on a mechanical configuration Portico type ... Núria Rosillo Guerrero

  43. Classification based on a mechanical configuration Portico type Núria Rosillo Guerrero

  44. Classification based on type of control Classification based on the kind of control • Not servo controlled. • Servo controlled. ... Núria Rosillo Guerrero

  45. Classification based on type of control Not servocontrolled • Characteristics: • High velocity due to the small dimensions. • Low cost, easy maintenance and operation. Extremely reliable . • High precision and repeatability. • Not flexible respect the applications. ... Núria Rosillo Guerrero

  46. ENTRY CONTROL SYSTEM EXIT PROCESS SENSOR DESIRED STATE FOR THEEXIT Classification based on type of control Servocontrolled ... Núria Rosillo Guerrero

  47. Classification based on type of control Servocontrolled • Characteristics: • High storage capacity. • The terminal element can have one of two types of movement: point to point and continuous trajectory. • Inside the physical limits, the precision of the position can be modified fiddling with the amplifiers of the servo control system. • The programming can be carried out by apprenticeship or by a programming language like VAL, ARLA… • It’s possible to program the movement of each axis to situate the terminal element in any part of the work space. • More expensive, low reliability, unlimited flexibility. ... Núria Rosillo Guerrero

  48. Classification based on type of control Point to point robots servo controlled ... Núria Rosillo Guerrero

  49. Classification based on type of control Robots servo controlled with continuous trajectory Núria Rosillo Guerrero

  50. Applications Smelting Soldering Materials Applications Rectified Maintenance Assembly Operations Inspection Cut Núria Rosillo Guerrero

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