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 03, Delhi

2 Contribution of IIT Delhi

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

4 More Robots Move to Directory Session: sess1 (9 min) 00-03, min Session: sess2 (7 min) min

5 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

6 PUMA Robot

7 RTX Robot

8 SCORBOT-Israeli (by Falcon)

9 Pick/Place Robot-Systemantics, India

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

11 Programme for Autonomous Robotics (Sponsored by BARC/BRNS) PAR Lab. Visit us at

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

13 Parallel Robots

14 More Robots Parallel Robots Made in IITD

15 Space Robot

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

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

18 RoboTRAC A system supported with wheels and legs

19 Snake-like articulated mobile robot

20 Fig. 1.2 (b) Sojourner microrover

21 Daksh 21

22 Fig Defence robot Daksh by DRDO [Courtesy:

23 Legged robot

24 At homes Robots to work with human beings Arriving at Homes Kitchens Hospitals RoboSquare, Japan

25 Robot Mechanics Lec. 2: An Introduction (contd.) Prof. S.K. Saha Dept. of Mech. Eng. IIT Delhi August 07, Delhi

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

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

28 Netra 28

29 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

30 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.

31 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

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

33 Fig Estimated populations of industrial robots [Courtesy:

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

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

36 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

37 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

38 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]

39 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

40 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?

41 Hanoi, Vietnam DD-MIT-Robocon 07 Final in DD-Sports Test of Automatic

42 Robotech

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

44 Projects and Awards Three B. Tech projects guided Two awarded best awards (RoboMuse for 24x7) Excel-based module for gripper design Program for chasis design Motivated students to correlate theory with practise

45 Conclusions Robotics is explained Several advanced robots are shown Robocon robots RoboMuse

46 Thank You