first workshop presentation

Welcome To The Introductory First Year

Workshop

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Robots…

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Technology Robotix Society was formed in 2001 with the aim of providing education pertaining to the field of Robotics to the students of IIT KGP. They started out by forming K.R.A.I.G. and then, conducting the Robotix fest.

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Aim Technology Robotix Society, TRS is a society dedicated to the advancement of robotics in IIT Kharagpur and beyond. We are a society that boasts of a dedicated team which works extensively in these disciplines and helps spread it in form of intra and inter collegiate workshops. TRS is expanding its vistas with many more external workshops all over India, which have met with phenomenal response in the past. We continue to strive for excellence in this pursuit of spreading robotics and paving the way for world class robotics R&D in India.www.robotix.in

ROBOTIX 2007Over 1500 Participants 546 Teams International

Participation Online Submission

from Universities like Princeton, Stanford

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ROBOTIX 2008

Over 3750 Participants1060 Teams63 Colleges

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ROBOTIX 2009

◦ Over 3000 Participants◦ 900+ Teams◦ First outdoor autonomous

event in India◦ First event based on Microsoft

Robotics Studio platform.

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ROBOTIX 2010◦ A golden decade of ROBOTIX completed.

◦ 8MileX continues with a grander challenge.

◦First ever underwater Robotics event in India.

◦Dynamic problem statement introduced in TribotX.

◦Manual and Autonomous Robotics

combined in Xtension.

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At a glance…

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New Frontiers In Robotics• Aerial Robotics

• Underwater Exploration

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• Machine Vision / Image Processing

•Bio-mimicry

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Kharagpur Robotics and Artificial Intelligence Group

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K.R.A.I.GThe Kharagpur Robotics and Artificial

Intelligence Group is the premier group which looks after the development of studies related to robotics in IIT Kharagpur.

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K.R.A.I.G Projects UndertakenK.R.A.I.G Projects Undertaken•Autonomous Ground Vehicle For Low Intensity

Conflict

•Biped - KEB 1.0

•SkeLKeT - Quadraped

•Virtual Eye - Ultrasonic Mapping

•8Mile

•Autonomous Car Parking

• Maze Solution using Path Planning

Simulation

• Tele-Robotics

• Micromouse

• Soccer Bots

• Microsoft Robotics Studio

Applications

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Events 2011R.A.F.T.Pirate BayBallistaThe FugitivesRoboCopThe Negotiators

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Robocup is a premier organization which aims to build a team of Robots so that “By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup.”

The organizations hold League matches in various countries and the RoboCup World Championship.

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Part I : Basic Machine

Copyright © Robotix Team, IIT Kharagpur

Basic Parts Of A Mobile RobotLocomotion systemPower supply systemActuatorsSensory devices for feedbackSensor Data processing unitControl system


Locomotion SystemAs the name suggests a mobile robot must

have a system to make it moveThis system gives our machine the ability to

move forward, backward and take turnsIt may also provide for climbing up and down


Locomotion SystemThe concept of locomotion invariably needs

rotational motion e.g. a wheel driven by some power source

This involves conversion of electrical energy into mechanical energy, which we can easily achieve using electrical motors

The issue is to control these motors to give the required speed and torque


Power, Torque and SpeedA simple equation: Power is the product of

Torque and Angular velocityP = ζ X ωThis implies that if we want more torque

(pulling capacity) from the same motor we may have to sacrifice speed and vice versa


Another Simple RelationThe DC motors available have very high

speed of rotation which is generally not needed. But what they lack is torque output.

For reduction in speed and increase in pulling capacity we use pulley or gear systems

These are governed by: ω1 X r1 = ω2 X r2


Wheeled Locomotion SystemsDifferential driveCar type driveSkid steer driveArticulated driveSynchronous drivePivot driveDual differential drive


Differential DriveMost commonly used Simplest and easiest to implement It has a free moving wheel in the front

accompanied with a left and right wheelThe two wheels are separately poweredWhen the wheels move in the same direction

the machine moves in that direction Turning is achieved by making the wheels

oppose each other’s motion, thus generating a couple


Differential Drive Cont…

Black arrows denote the direction of wheel. The green ones show robot movement


Differential Drive Cont… In-place (zero turning radius) rotation is done

by turning the drive wheels at the same rate in the opposite direction

Arbitrary motion paths can be implemented by dynamically modifying the angular velocity and/or direction of the drive wheels

Total of two motors are required, both of them are responsible for translation and rotational motion


Differential Drive An Analysis

Simplicity and ease of use makes it the most preferred system by beginners

Independent drives makes it difficult for straight line motion. The differences in motors and frictional profile of the two wheels cause them to move with slight turning effect

The above drawback must be countered with appropriate feedback system. Suitable for human controlled remote robots


Car Type Drive


Skid Steer Drive


Articulated Drive


Synchronous Drive


Pivot Drive


Power Supply SystemSuitable power source is needed to run the

robotsMobile robots are most suitably powered by

batteriesThe weight and energy capacity of the

batteries may become the determinative factor of its performance

Using Pulleys

r1

r2

ω1 ω2

MotorWheel

ω1r1 = ω2r2 => ω2 = ω1r1 / r2

τ1ω1 = τ2ω2 => τ2 = τ1ω1 / ω2 => τ2 = τ1r2 / r1

Thus we get reduction in speed and increased torque. Hence our machine is able to cross over obstacles easily and also pull more load

Belt

Belt

Multi Pulley SystemsMotor WheelIntermediate Pulley

ω1 ω2

ω3

ω1r1 = ω3r2 => ω3 = ω1r1 / r2

τ1ω1 = τ3ω3 => τ3 = τ1ω1 / ω3 => τ3 = τ1r2 / r1

ω3r1 = ω2r2 => ω2 = ω3r1 / r2

τ2ω2 = τ3ω3 => τ2 = τ3ω3 / ω2 => τ2 = τ3r2 / r1 => τ2 = τ1r22 / r1

2 Hence for n pulley system => τ2 = τ1r2

n / r1

n

r1

r2

r2

r1

Features of Pulley SystemSimple and easy to useFlexible rubber belts make the job easierMaximum torque restricted by friction limitsVery high torque system cannot be achieved

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Be there :

Venue : Kalidas Auditorium, Ramanujam ComplexDate : 8th AugustTime : 5:30 pm

For another exciting foray into ROBOTICS!

Visit : www.robotix.in

first workshop presentation

Education

kharagpur robotics

iit kharagpur

torque copyright robotix

autonomous robotics

couple copyright robotix

robotix fest

technology robotix society

field of robotics