Robotics: Evolution, Technology and Applications
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1 Robotics: Evolution, Technology and Applications By: Dr. Hamid D. Taghirad Head of Control Group, and Department of Electrical Engineering K.N. Toosi University of Tech. Department of Electrical Engineering K.N.Toosi U. of Tech.
2 Seminar Outline Introduction Robotics: a human dream Robotic evolution Robot definition Robotic Application Space Industrial Robot Design Kinematics Arm configuration End effector Actuator and drive Sensors Electronics and control Medical Home and entertainment Department of Electrical Engineering K.N.Toosi U. of Tech. 2
3 Introduction Human Dream: Build a human clown Human Hand Robot manipulator Human Leg Mobile robot Legged robot Human Eye Machine vision Hand-eye task Visual servoing Listen and talk Sound recognition Think and decide Artifitial intelligence Department of Electrical Engineering K.N.Toosi U. of Tech. 3
4 Introduction Dream coming to truth starting with Robots as workers: Manipulators Manipulator Worker arm Robot Definition: A motorized computer-controlled machine that can be programmed to do a variety of tasks especially repeatable and tiresome ones. Department of Electrical Engineering K.N.Toosi U. of Tech. 4
5 Introduction Robot Evolution 1921: Robota introduced in Karel Capek theatre, as a slave performing compulsory tasks 1962: 1 st Generation Robot, Unimation Inc. pneumatically driven : 2 nd Generation Robot, programmable robots in a well known environment (servo-controlled, PLC) current: 3 rd Generation Robot, Intelligent robot in an unstructured environment (Artificial intelligent) Department of Electrical Engineering K.N.Toosi U. of Tech. 5
6 Introduction Why Robots Strong Tireless Accurate and repeatable Well-immune Labor saving, improvement of working condition, increasing flexibility, productivity, quality, etc Department of Electrical Engineering K.N.Toosi U. of Tech. 6
7 Introduction Manipulator components Arm Hand End effector Actuators and drive Sensors and transducers Computer and Electronics Education via software Department of Electrical Engineering K.N.Toosi U. of Tech. 7
8 Robot Subsystems Introduction Department of Electrical Engineering K.N.Toosi U. of Tech. 8
9 Kinematics Robot Design Geometry of joint and link to end effector Moving in space 6DOF Jacobian, Redundany and Singularity Ratio of link length Configuration of articulated links Snake stand before attack Difficult task in hanging a curtain Department of Electrical Engineering K.N.Toosi U. of Tech. 9
10 Robot Design Arm Configuration Articulated or serial joint-links Department of Electrical Engineering K.N.Toosi U. of Tech. 10
11 Robot Design Articulated Department of Electrical Engineering K.N.Toosi U. of Tech. 11
12 Robot Design Arm Configuration Cylindrical Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 12
13 Robot Design Cylindrical Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 13
14 Robot Design Arm Configuration Spherical Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 14
15 Robot Design Spherical Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 15
16 Arm Configuration Cartesian Robot Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 16
17 Cartesian Robot Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 17
18 Robot Design Arm Configuration SCARA Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 18
19 Robot Design Robot Design SCARA Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 19
20 Robot Design Arm Configuration Parallel Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 20
21 Robot Design Arm Configuration Parallel Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 21
22 Robot Design Arm Configuration Parallel Robot Department of Electrical Engineering K.N.Toosi U. of Tech. 22
23 Robot Design Parallel Robot ARAS Hydraulic Shoulder Department of Electrical Engineering K.N.Toosi U. of Tech. 23
24 Robot Design Robot Design End effector Department of Electrical Engineering K.N.Toosi U. of Tech. 24
25 Robot Design Robot Design End effector Department of Electrical Engineering K.N.Toosi U. of Tech. 25
26 Robot Design Robot Design End effector Department of Electrical Engineering K.N.Toosi U. of Tech. 26
27 Robot Drive Pneumatic Robot Hydraulic Robot Electric Robot Robot Design Servo DC motor (brushed) Servo Brushless DC motor Servo AC motor Speed Reduction Direct Drive Gearbox Department of Electrical Engineering K.N.Toosi U. of Tech. 27
28 Robot Drive Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 28
29 Robot Drive Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 29
30 Robot Drive Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 30
31 Robot Drive Robot Design Harmonic Drive Department of Electrical Engineering K.N.Toosi U. of Tech. 31
32 ARAS FJR Robot Design Department of Electrical Engineering K.N.Toosi U. of Tech. 32
33 Robot sensors Robot Design Position Sensors Incremental Encoders Absolute Encoders Tachometers Limit and Proximity Switches Force Sensors 6DOF Force-Torque sensors Visual Sensors Infrared Range Sensors CCD Camera Calibration Bird Sensors Stereo Cameras Department of Electrical Engineering K.N.Toosi U. of Tech. 33
34 Robot Design Robot Electronics and Control Controller Single joint servo controller Teaching Pendant PLC or Digital controller Interfacing Circuits Quadrature counter (HCTL 2000) Analog and Digital I/O D/A and A/D Amplifiers and filters Department of Electrical Engineering K.N.Toosi U. of Tech. 34
35 Robot Design Robot controller overview Department of Electrical Engineering K.N.Toosi U. of Tech. 35
36 Robotic Applications Space Robotics: International Space Station Department of Electrical Engineering K.N.Toosi U. of Tech. 36
37 Robotic Applications Space Robotics: International Space Station Department of Electrical Engineering K.N.Toosi U. of Tech. 37
38 Robotic Applications Space Robotics: Space Station Remote Manipulator System (SSRMS) Department of Electrical Engineering K.N.Toosi U. of Tech. 38
39 Robotic Applications Space Robotics: Special Purpose Dexterous Manipulator (SPDM) Department of Electrical Engineering K.N.Toosi U. of Tech. 39
40 Robotic Applications Industrial Applications General Purpose Manipulators Department of Electrical Engineering K.N.Toosi U. of Tech. 40
41 Robotic Applications Industrial Applications Welding Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 41
42 Robotic Applications Industrial Applications Painting Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 42
43 Robotic Applications Industrial Applications Assembly Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 43
44 Robotic Applications Medical Robot Operating Room Tele-operated Surgery Micro Surgery Department of Electrical Engineering K.N.Toosi U. of Tech. 44
45 Robotic Applications Home and Entertaining Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 45
46 Robotic Applications Home and Entertaining Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 46
47 Robotic Applications Home and Entertaining Robots Department of Electrical Engineering K.N.Toosi U. of Tech. 47
48 Thank You Department of Electrical Engineering K.N.Toosi U. of Tech. 48
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