basic robotics workshop slides

BASIC ROBOTICS WORKSHOP

WELCOME

ABOUT ME

• Working for 2 years in ROBOMANIPAL, the official robotics team of MIT. Represented MIT in the top 12 teams of India at ABU ROBOCON.

• Active participant and winner of various technical events in MIT – trebot, image processing, 555 timer, mars rover, arduino hackathon, etc.

ABOUT ME

• Interned at Fracktal works, a 3-D printer research and business start up.

• Interned at Sirena Technologies. Worked on Humanoid-Machine interface, Simulations and Android Development.

• Working on a Mining Surveillance and Survey Robot with NIT-K for the last 6 months.

Robots in daily lifeSheldon’s Virtual Presence Device

ROBOTS IN DAILY LIFE

HISTORY OF ROBOTS

HISTORY OF ROBOTS

• 1495 AD – Designs for humanoid robot

HISTORY OF ROBOTS

1739 AD – Vaucanson’s digesting duck

HISTORY OF ROBOTS

• 1898- Tesla demonstrates the first radio controlled (wireless) vessel (torpedo)

HISTORY OF ROBOTS

• 1961 – Motor assembly robotic arm by George Devol.

DEFINITION KYA HAI?

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.

IDEAL TASKS

Tasks which are:–Dangerous• Space exploration• chemical spill cleanup• disarming bombs• disaster cleanup

DAKSH by DRDO

IDEAL TASKS

–Boring and/or repetitive•Welding car frames•part pick and place•manufacturing parts.

Industrial Robotic Arm

IDEAL TASKS

–High precision or high speed• Electronics testing• Surgery• precision machining.

Automated Surgery

A BASIC ROBOT

CHASSIS

MOTORS

WHEELS

BATTERY

SWITCH

WIRES

CHASSIS

CHASSIS

CHASSIS

WHEELS

DIFFERENTIAL DRIVE

DIFFERENTIAL DRIVE

OMNI WHEELS

OMNI WHEEL BOT

MECANUM WHEEL

MECANUM WHEEL BOT

MECANUM WHEELCHAIR

1. A robot may not injure a human being or, through inaction, allow a human being to come to harm.

2. A robot must obey orders given it by human beings except where such orders would conflict with the First Law.

3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

ROBOT LAWS

MOTORS

• ANIMATION – DC BRUSHED MOTOR

• ANIMATION – DC BRUSHLESS MOTOR

MOTORS

MOTORS

• STEPPER MOTORS• SERVO MOTORS

MOTORS

MOTOR TORQUE CALCULATIONS

MOUNTING MOTORS

HOW DO YOU MOUNT THE MOTORS TO YOUR CHASSIS?

MOUNTING MOTORS

• L- CLAMPS

MOUNTING MOTORS

• U CLAMPS

BATTERIES

•

• LEAD ACID

BATTERIES

•

• 9 V TRANSISTOR BATTERY

BATTERIES

• \

• Li-ion Battery

BATTERIES

• LITHIUM • POLYMER• BATTERY

BASIC PARTS OF ROBOTICS

Basic PartsMechanical

system

Power supply system

Actuators (Motors, IC

engines, Pneumatics, Hydraulics)

Sensors

Controllers (Switches, PC,

PLC, uP, uC)

SWITCH

SWITCH

SWITCH

H-BRIDGE

An H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction.

DPDT SWITCH

• DOUBLE POLE DOUBLE THROW SWITCHES

TYPES OF SWITCHES

THE BOT IS READY!

H-BRIDGE

An H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction.

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical– Double Helical

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical– Double Helical– Bevel

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm– Rack and Pinion

Gears

• Gears are machine elements that transmit motion by means of successively engaging teeth.

• Types:– Spur Gear– Helical– Double Helical– Bevel– Worm– Rack and Pinion– Planetary Gears

Mobile Robot LocomotionThere are various drives for a mechanical

system◦Differential Drive

◦Ackerman Steering

◦Synchronous drive

◦Tricycle Drive

Some basic electronic components

• 1. Resistors

RESISTOR COLOR CODES

• Reading a Resistor

RESISTOR CODES

B.B. ROY of Great Britan has a Very Good Wife

Pull up and pull down resistors

CAPACITORS

Zener diodes

• Used as a voltage regulator

7805 voltage regulator

7805 voltage regulator

Transistors

MICROCONTROLLER

• Say Hello to your best friend from now :

ARDUINO

ARDUINO UNO

Arduino and Breadboards

Baisc Sensor Circuit

Basic Motor Circuit without Motor Driver

Serial Communication

INTERRUPTS

Analog Line Follower vs Digital Line Follower

Analog Line Follower vs Digital Line Follower

SEE YOU TOMORROW

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