Robot Mechanics Lec. 1: An Introduction

Transcription

1 Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech. Eng. IIT Delhi August 01, Delhi

2 Contribution of IIT Delhi

3 Humanoid Robots Asimo (Honda): 120cm; 52kg Qrio (Sony): 58cm; 7kg

4 History: Definition of Robot What is a robot? Robit (Check word) --> Work Robota (Slav word) --> Menial or slave labour Got publicity from the play Rossum s Universal Robots (RUR) [1921] Karel Capek

5 PUMA Robot

6 Photo of a Unimate robot [Courtesy: 03inductees/unimate.html]

7 RTX Robot

8 SCORBOT-Israeli (by Falcon)

9 Other Applications: Space Robot

10 (a) (b) Fig. 1.4 An AGV: (a) Stand alone; (b) At work [Courtesy:

11 Wheeled Robots Centre-driven Vehicle (Carlisle, 1984) With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel (Muir and Neuman, 1987)

12 RoboTRAC A system supported with wheels and legs

13 Snake-like articulated mobile robot

14 Fig. 1.2 (b) Sojourner microrover

15 Legged robot

16 Medical Applications The da Vinci robot for minimally invasive surgery [Courtesy:

17 Indian Robot: PPR by Systemantics, India

18 Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy:

19 Tata Automation Limited (TAL), Pune

20 Daksh (DRDO) 20

21 Defence robot Daksh by RDE (DRDO), Pune [Courtesy:

22 Grey Orange: Warehouse Robots Samay Kohli (left) and Akash Gupta

23 Netra (DRDO) 23

24 DRDO s unmanned aerial vehicle, NETRA [Courtesy:

25 Remotely operated underwater robot by CMERI, Durgapur [Courtesy:

26 Parallel Robots (SDD 08-10, 12-16) Singularity

27 Other Application of Parallel Robots

28 Programme for Autonomous Robotics (Sponsored by BARC/BRNS) Delhi (10 Faculty + 20 Students) 28 Visit us at

29 I/O Devices Adaptive F/T Control Virtual Environment Kinematic Identification Dynamic Identification Vision Based Control

30 RoboCon2RoboMuse: A New Initiative Nov. 08-Mar 09 Nov. 09

31 Projects and Awards Integrated with the courses Four B. Tech projects guided Two awarded best awards (RoboMuse 3.0) In 2017 Another B. Tech project in 2016 (RoboMuse 4.0: Autonomous & obstacle avoidance)

32 Int. Std. Org. (ISO) Definition Robot An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications Other definitions: Rob. Soc. of Japan, etc. Common temrs: Re-programmable, Multipurpose

33 Laws of Robotics By Issac Asimov (1940s) 1. A robot may not injure a human being or, though inaction, allow a human being to come to harm. 2. A robot must obey the orders given by human beings, except when 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.

34 First Robot First Commercial Robot (1962) By Unimation Inc., USA, founded by Joseph F. Engelberger (Father of Robotics) in 1950 Installed in General Motors plant

35 Fig Estimated populations of industrial robots [Courtesy:

36 Fig Number of service robots sold in 2011 and 2012 [Courtesy:

37 Table 1.1 Estimated stock of industrial robots during and forecast for 2013 and 2016

38 Reasons for Poor Utilization Mainly due to U N E M P L O Y M E N T [Japan with robots in 1992 had < 3% unemployment] Other reasons Lack of proper perspective Cheap labour Non-availability High import cost/high investment

39 More Reasons R&D Supports: By Govt. only Companies involved: Almost nil Advanced Research Absorption: Poor Questions: Should We Use Robots? Do We Need Robots? If yes, how? Yes Yes (modified way) Let s see

40 Robotics in Our Countries To Overcome `Robotics vs. Unemployment Do we like to work in front of a furnace at 500 o C [Hazardous] weld two parts for 8H/day for several years? [Monotonous] Robot = Machine [Robot Human]

41 Where and How? Where? In hazardous environment (Chemical, Steel, Nuclear, plants) High precision applications Export oriented products How? Indigenous design Develop as required (Customized design) Make awareness Think it as a machine

42 When to Use a Robot? Thumb Rules: Is task Dirty, Dull, Dangerous, Difficult? Will a human be jobless? Is a human willing to do a job? Is robot usage economic?

43 Conclusions Robotics is explained Applications of robots Several advanced robots are shown RoboMuse

44 Thank You