Robot Mechanics Lec. 1: An Introduction Prof. S.K. Saha Dept. of Mech. Eng. IIT Delhi August 03, 2015@IIT Delhi
Contribution of IIT Delhi
Humanoid Robots Asimo (Honda): 120cm; 52kg Qrio (Sony): 58cm; 7kg
More Robots Move to Directory Session: sess1 (9 min) 00-03, 06-12 min Session: sess2 (7 min) 08-15 min
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
PUMA Robot
RTX Robot
SCORBOT-Israeli (by Falcon)
Pick/Place Robot-Systemantics, India
Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
Programme for Autonomous Robotics (Sponsored by BARC/BRNS) PAR Lab. Visit us at http://robotics.iitd.ac.in
I/O Devices Adaptive F/T Control Virtual Environment Kinematic Identification Dynamic Identification Vision Based Control Show
Parallel Robots
More Robots Parallel Robots Made in IITD
Space Robot
(a) (b) Fig. 1.4 An AGV: (a) Stand alone; (b) At work [Courtesy: www.globalspec.com]
Wheeled Robots Centre-driven Vehicle (Carlisle, 1984) With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel (Muir and Neuman, 1987)
RoboTRAC A system supported with wheels and legs
Snake-like articulated mobile robot
Fig. 1.2 (b) Sojourner microrover
Daksh 21
Fig. 1.14 Defence robot Daksh by DRDO [Courtesy: http://en.wikipedia.org/wiki/drdo_daksh]
Legged robot
At homes Robots to work with human beings Arriving at Homes Kitchens Hospitals RoboSquare, Japan
Robot Mechanics Lec. 2: An Introduction (contd.) Prof. S.K. Saha Dept. of Mech. Eng. IIT Delhi August 07, 2015@IIT Delhi
Remotely operated underwater robot by CMERI, Durgapur [Courtesy: http://www.cmeri.res.in/rnd/rov.html]
Medical Applications The da Vinci robot for minimally invasive surgery [Courtesy: http://www.intuitivesurgical.com/products/]
Netra 28
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
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.
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
Photo of a Unimate robot [Courtesy: http://www.robothalloffame.org/inductees/ 03inductees/unimate.html]
Fig. 1.18 Estimated populations of industrial robots [Courtesy: http://www.ifr.org/industrial-robots/statistics]
Fig. 1.19 Number of service robots sold in 2011 and 2012 [Courtesy: http://www.ifr.org/statistics/keydata2005.htm]
Table 1.1 Estimated stock of industrial robots during 2011-12 and forecast for 2013 and 2016
Reasons for Poor Utilization Mainly due to U N E M P L O Y M E N T [Japan with 3 50 000 robots in 1992 had < 3% unemployment] Other reasons Lack of proper perspective Cheap labour Non-availability High import cost/high investment
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
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]
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
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?
Hanoi, Vietnam DD-MIT-Robocon 07 Final in DD-Sports Test of Automatic
Robotech Room@IITD
RoboCon2RoboMuse: A New Initiative Nov. 08-Mar 09 Nov. 09
Projects and Awards Three B. Tech projects guided Two awarded best awards + 2014 (RoboMuse for 24x7) Excel-based module for gripper design Program for chasis design Motivated students to correlate theory with practise
Conclusions Robotics is explained Several advanced robots are shown Robocon robots RoboMuse
Thank You saha@mech.iitd.ac.in sahaiitd@gmail.com http://sksaha.com