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Robotics

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10 views

Robotics

Uploaded by

nggjgt5zmf
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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WHAT IS A ROBOT ?

AN AUTOMATIC APPARATUS OR DEVICE


THAT PERFORMS FUNCTIONS ORDINARILY
ASCRIBEDTO HUMANS OR OPERATES WITH
WHAT APPEARS TO BE ALMOST HUMAN
INTELLIGENCE
OR

A ROBOT IS A RE-PROGRAMMABLE ,
MULTIFUNCTION MANIPULAT OR DESIGNED
TO MOVE MATERIAL , PARTS , TOOLS , OR
SPECIFIED DEVICES THROUGH VARIABLE
PROGRAMMED MOTIONS FOR THE
PERFORMANCE OF VARIETY OF TASKS
AIM

TO GIVE AN OVER VIEW ON


ROBOTICS AND ITS MILITARY
APPLICATION
ROBOTICS
• SUB SYSTEMS OF
ROBOT
• ARTIFICIAL
INTELLIGENCE
• OPTICAL COMPUTING
• CLASSIFICATION OF
ROBOT
• MIL APPLICATION OF
ROBOT
SYSTEMS OF A ROBOT

• MANIPULATOR
• END EFFECTORS
• ACTUATORS
• SENSORS
• CONTROLLERS
COMPONENTS OF A ROBOT
ELBOW
WRIST

GRIPPER
ARM
CAMERA
ACTUATOR
(MOTOR)
POWER
CONVERSION UNIT CONTROLLER
MANIPULATORS

* A COLLECTION OF MECH LINKAGES


CONNECTED BY JOINTS TO FORM AN
OPEN LOOP KINEMATIC CHAIN

 REVOLUTE

 PRISMATIC
MANIPULATOR

DEGREE OF FREEDOM
END EFFECTORS
• HAND OR TOOL ATTACHED TO WRIST TO
PERFORM DESIRED APPLICATION

 TOOL : APPLICATION ON WARKPART


WELDING , SPRAY PAINT , DRILLING

 GRIPPER : UTILISED TO GRASP AN OBJECT AND


HOLD DURING THE ROBOT CYCLE
SUCTION CUP , MAGNET , HOOK
SENSORS

TYPES:-

- CONTACT
- NON-CONTACT
SENSORS CAPABILITIES

 SIMPLE TOUCH
 COMPLEX TOUCH
 FORCE SENSOR
 PROXIMITY SENSORS
 VISION SENSORS
 MEASURE TEMP,PR, CHEMICAL
TYPE OF SENSORS
• PROPRIOCEPTORS : MEASUREMENT OF
ROBOTS INTERNAL PARAMETERES. SENSORS
MEASURES BOTH KINEMATIC ( POSN, VEL) AND
DYNAMIC ( FORCE, TORQUE,INERTIA)
PARAMETERS.

• EXTEROCEPTORS : MEASUREMENT OF
ROBOTS EXTERNAL PARAMETERS . SENSORS
THAT MEASURES POSITIONAL OR FORCE TYPE
INTERACTION OF ROBOT WITH ENVIRONMENT
TYPE OF INTERNAL SENSORS
• POTENTIOMETER
• LVDT(Linear Variable Differential Xfmr)

• RESOLVER

• ENCODERS
TYPE OF EXTERNAL SENSORS
• CONTACT • PROXIMITY
 MECHANICAL  INDUCTIVE
 RESISTIVE  HALL EFFECT
 CAPACITIVE  CAPACITIVE
 FORCE  ULTRASONIC
 OPTICAL  OPTICAL
• RANGE/FAR AWAY
 INFRARED
 ULTRASOUND
ACTUATORS

• PNEUMATIC
• HYDRAULIC
• ELECTRIC MOTOR
DC MOTORS
STEPPER MOTOR SERVO MOTOR
 It has discrete posn .  It has continuous posn.
 Several coils powered  DC motor with 2/4 coil,
sequentially. Rate at mov restricted to 180
which coils are energized deg.
determines vel.  Motor driven by
waveform as series of
 Consists of DC motor , pulses in a PWM signal
Indexer(step,pulse,dir),
 Consists of DC motor ,
Driver. posn sensors , reduction
 Steps upto 400 , 0.9 Deg. gears, cct.
 Eg: Printer head, HDD  Eg : steering of car,
wings ac.
CONTROLLER
Robotic
actuators
Data bus
Position
sensors
Memory Central Input /
-ROM processing output Other
-RAM unit devices sensors
actuators

Other
Address bus computers

Control bus CONSOLE

•OPEN/CLOSE LOOP FEED BACK SYS


•SERVO/NON-SERVO CONTROLLER
SIG FLOW DIAGRAM OF ROBOT

Sensors

Controller Manipulator ACTUATORS

Power drive

End Effectors

Power
ARTIFICIAL INTELLIGENCE

World model

Reasoning

Interpreting Generating

Sensing Effecting
(input) (output)
ADVANTAGES OF OPTICAL
COMPUTING
• COMPUTING AT SPEED OF LIGHT
• INHERENT PARALLELISM
• NO LIMITATION ON SPEED
• MATHMATICAL CALCULATION BY
OPTICAL LENSES
• HIGH DENSITY 3-D STORAGE
• INTERCONNECTIONS ARE
ELIMINATED
BOTTLENECKS OF OPTICAL
COMPUTING
• DEVICE IS LARGE AND BULKY
• REQUIRE ACCURATE ALLIGNMENT
• NOT EASY TO MINIATURISE
• PROBLEM OF MFR
• COST IS HIGH
CLASSIFICATION OF ROBOT

• REMOTE OPERATED
• LARC
• PROGRAMMABLE
• AUTONOMOUS
APPLICATION OF ROBOT
• ASSEMBLY ROBOT
• MILITARY APPLICATION
• PLANETARY EXPLORATION
• HOUSEHOLD ROBOT
• EDUCATIONAL ROBOT
• UNDER WATER APPLICATION
• MISC APPLICATION
VIZ: HOTEL ,HOSPITAL,FIRE FIGHTING,
ENTERTAINMENT,CONSTRUCTION
MIL APPLICATION OF ROBOT
ANTI TERRORISM ROBOT

THE ROBOT IS CALLED TEODER , DEVP IN GERMANY

CAPABILITIES:

 CARRIES A SHOT GUN


 CAN PROD OR PROBE A OBJECT & EXPLODE
 A CRYOGENIC PACK TO FREEZE EXPLOSIVE
 NEUTRALISE IED
 SREALTHILY KILL ENEMY
 ADDL ON BOARD WPN AS PER REQMT
MULTI PURPOSE VEH BASED ROBOT

 DPLY BY US MARINE CORPS


 TELE / FIBER OPTIC CONTROLLED
 MODEL M998TOV
 SIX WH / TRACK
 WT : 6400 LBS
 PAY LOAD : 3400 LBS
 HYBRID ENGINE
 RG : 300/20 MILES
 SPEED : 55/20 KMPH
 WPN : 0.5 M/C GUN ,
MSL
REMOTE MODE : OPR HEAR 3D SOUND , VIDEO MTD

HELMET WITH SENSORS AND REMOTE SIMULATOR

MSN
• RECCE , MON , SVL
• RSTA
• OFFENSIVE / DEFENSIVE
• NBC RECCE
• ARTY OP
• EXPLOSIVE DISPOSAL
• MINE DETECTION, MAPPING , BREACHING
HYDRO ROBOT
• ROBOT FOR UNDER WATER OPS
• DEEP SEA DIVING
• STEALTH PURPOSE
• MINE LAYING / BREACHING
• GUIDING TORPEDOES
• INSP OF HULL/PROPELLER
• SVL
• SIZE IS SMALL
• ROBOSTRIDER
PATH FINDER
PATH FINDER
• SIZE: MICROWAVE
OVEN 630*480*280 MM
• WT: 16 KG
• SIX WHEEL DRIVE ,
FOUR WHEEL
STEERING
• POWER: SOLAR
CELL(0.2)SQ MTR
• 13 W O/P
• SPEED: 16-20 MTS/SEC
PATH FINDER
• LAUNCH : 04/12/96
• PAY LOAD:
X-RAY SPECTROMETER
HAZARD RG DETECTION
CAMERAS
ON BD CMPTR
1 LAC INSTR / SEC
SELF CHECK
COST: 175(150+25)$

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