basics of robotics

2. Prepared by:
Gil Niño B. Agnabo -- BS ECE 3A

3. What is Robot?

4. • Word robot
was coined
by a Czech
novelist Karel
Capek(1920)
• Robot in
Czech is a
word for
worker or
servant
• In a broad
sense, any
autonomous
machine can
be called a
robot.
What is Robot?

5. 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, 1979

6. To be called a robot, a machine must possess
some or all of the following essential
characteristics:
◦Movement
◦Sensing and manipulating the environment
◦Display some kind of ‘intelligence’
(galileo.org/robotics)

7. patented in 1954 (granted in 1961) by American
inventor George Devol, the Unimate was developed
as a result of the foresight and business acumen of
Joseph Engelberger - the Father of Robotics.
Unimate was the
very first industrial
robot. Conceived
from a design for a
mechanical arm

10. Stationary robots are robots
those work without changing
their positions. Referring the
robot as “stationary” does not
mean that the robot actually is
not moving. What “stationary”
means is the base of the robot
does not move during
operation.
1.Stationary Robots

11. Wheeled robots are robots
which change their positions
with the help of their wheels.
Wheeled motion for a robot can
be achieved easily in mechanical
terms and its cost is pretty low.
Additionally control of wheeled
movement is generally easier.
2.Wheleed Robots

12. Legged robots are mobile robots,
similar to wheeled robots, but their
locomotion methods are more
sophisticated and complicated
compared to their wheeled
counterparts. As their name suggests
they use their legs to control their
locomotion and they perform much
better than wheeled robots on
uneven terrain.
3. Legged Robots

13. Swimming robots are robots which
move underwater. These robots are
generally inspired by fish and they use
their fin-like actuators to maneuver in
water..
4.Swimming Robots – Robot Fish

14. Flying robots are robots that float
and maneuver on air using their plane-
like or bird/insect-like wings, propellers
or balloons. Examples of these robots
are airplane robots, bird/insect inspired
wing flapping robots, propeller based
multicopters and balloon robots.
5.Flying Robots

15. 6.Rolling Robotic Balls (Mobile Spherical
Robots)

16. Swarm robots are robotic systems
which consist of multiple small robots.
These robots structurally does not create a
single united robot, but operates as their
robot modules operate cooperatively.
Although similar to modular robotic
systems, elements of swarm robots have
much less functionality and herd
configurations does not create new robots.
7.Swarm Robots

17. Similar to swarm robots, modular robotic
systems also have multiple robots in their
configurations. Modules of these systems are more
functional compared to a robotic herd. For example
a single module of a modular robotic system can
have self-mobility and it can operate alone. The
power of modular robotics comes from its versatility
in its configurations. Modules of a modular robotic
system can create very different configurations and
the robots created this way can have very distinct
abilities.
8.Modular Robots

18. By definiton micro robots term is used
to specify both robots that have dimensions
on micrometer scale and robots that can
operate on micrometer resolution.
Therefore both possibly very big stationary
robots that can manipulate their
environment on a micrometer scale and
small robots that are actually measured by
micrometers are called micro motors.
9.Micro Robots

19. Similar to micro robots nano robots
also defined a bit vaguely. The term
nano robot both defines very small
robots which have nano meter scaled
dimensions and robots those can
manipulate their environment with a
nano meter scale resolution regardless
of their actual sizes.
10.Nano Robots

20. Soft/elastic robots, are
new introductions to
robotics. These robots are
generally bio-inspired. Most
applications are inspired
from squids or inchworms
both structurally and
functionally.
11.Soft Elastic Robots

21. Robot
applications
Welding
Painting
Surgery
Entertainment
Assembly
operation

22. What
goes
behind
in
making
a robot?

23. MECHANICAL
CHASSIS/
FRAME &
BODY
ACTUATORSJOINTS
TRANSMISSION
SYSTEM

24. The Robot Joints is the important
element in a robot which helps the
links to travel in different kind of
movements.
JOINTS

25. Rotational joint can
also be represented
as R – Joint. This type
will allow the joints to
move in a rotary
motion along the axis,
which is vertical to
the arm axes.
Linear joint can be indicated
by the letter L – Joint. This
type of joints can perform
both translational and sliding
movements. These motions
will be attained by several
ways such as telescoping
mechanism and piston. The
two links should be in parallel
axes for achieving the linear
movement.
Twisting joint will be
referred as V – Joint. This
joint makes twisting
motion among the
output and input link.
During this process, the
output link axis will be
vertical to the rotational
axis. The output link
rotates in relation to the
input link.
Rotational Joint: Linear Joint:
Twisting Joint:

26. The O – joint is a symbol that is
denoted for the orthogonal
joint. This joint is somewhat
similar to the linear joint. The
only difference is that the
output and input links will be
moving at the right angles.
Revolving joint is generally
known as V – Joint. Here, the
output link axis is perpendicular
to the rotational axis, and the
input link is parallel to the
rotational axes. As like twisting
joint, the output link spins about
the input link.
Orthogonal Joint: Revolving Joint:

28. Actuators are essentially the prime
movers providing linear force and
motion.
ACTUATORS

29. Conventional: Pneumatics,
hydraulics
Permanent magnet motors
and stepper motors
Pneumatic
valve system
Pneumatic
Cylinder
Servo Motor
300 RPM Side
Shaft DC Gear
Motor

30. Linear motors actuators
Linear motor
drive actuator

31. It is used to distribute the force or
connect actuators to every part of
the robot.
TRANSMISSION SYSTEM

32. the lighter the gear the better motion, less torque
and higher speed. Some of this model is spur
helical, bevel, worm, rack and pinion, and many
others. (Paul 2003, 108).
Timing belts: have some kind of teeth and these
teeth go around with some kind of pulley that drives
this belt around it to transfer motion. It is used
nowadays with robot walking machine (Paul 2003,
113).
Gears: Timing belt:
Timing belt connected with a pulley

33. Chains:
Metal belts, cables
and pulleys:
Linkages:
Robot example of linkages between
a servo motor and pulleys
are very important to create
linear motion backward and
forward with low speed. We can
use some kind of nuts, by
tightening the nut we control the
speed of motion.
Ball screws:

34. Chassis is the base frame of any
robot on to which other
components are mounted.
CHASSIS/ FRAME & BODY

35. Two wheeled robot chassis Chassis Frame and rails

36. ELECTRICAL
Power Source
Switch Mode Power Supply (SMPS)
Lithium Polymer (LiPo) BatteryLead-Acetate Battery
Source of electrical
energy .

37. PROGRAMMING
Arduino
PLC (Programmable
Logic Controller)
Setting the function of
the robot