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Robotics

Join W.J. (Chris) Zhang, Fellow of CAE, University of Saskatchewan, for a comprehensive lecture on Robotics. Learn about robot definition, classification, functional and structural viewpoints, and more.

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Robotics

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  1. Robotics Lecture on SUSE April to May, 2019 W.J. (Chris) Zhang, Fellow of CAE University of Saskatchewan Canada

  2. University of Saskatchewan • 1907 founded • Ranking 9 / 15 Medical Doctor cat in Canada • 2 Nobel Prizes • Synchrotron facility

  3. Robot Logics of presentation: Robot definition Robot classification

  4. Robot Definition Functional viewpoint: - automatically controlled, - reprogrammable multipurpose - reprogrammable axes Structural viewpoint: (see Fig. 2-1) - mechanical arm (see Fig. 2-2) - controller

  5. Fig. 2-1

  6. Structural view (continued) - teach station - work cell interface - program storage device - power system (electrical, hydraulic, etc.) - end-effector or tooling or gripper

  7. Fig. 2-2 Mechanical arm 1. Body motion 2. wrist motion

  8. Robot topology classification Serial Parallel Closed-loop

  9. Robot Classification (serial) • The classification is based on the body motion but not the wrist motion • It is about how motions are deployed to drive the end-of-arm to reach a positon and orientation.

  10. Cartesian geometry: (a) Gantry - type (Fig. 2-3) (b) Cartesian (Fig. 2-4) • Spherical geometry (Fig. 2-5) • Cylindrical coordinate (Fig. 2-6) • Articulated geometry (a) vertical (Fig. 2-7) (b) horizontal (Fig. 2-8)

  11. Fig. 2-3 Cartesian geometry: Gantry - type

  12. Fig. 2-4 Cartesian geometry: Cartesian

  13. Fig. 2-5 Spherical geometry

  14. Cylindrical coordinate Fig. 2-6

  15. Fig. 2-7 Articulated geometry: vertical

  16. Fig.2-8 Articulated geometry: horizontal

  17. Work space

  18. Fig. 2-9 Robot Controller

  19. Fig. 2-10 Gripper

  20. No motor or passive joint Fully actuated Under-actuated Fully actuated with closed-loop

  21. Summary • Robot definition from two perspectives: functional and structural. • Robot structure classification • Robot classification is based on body motion but not wrist motion • Fully actuated, under-actuated, under-actuated with closed-loop

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