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    01 Robotics Applications, Components and Specifications

    Uploaded by

    Abdallah Akrab
    This document provides an overview of a robotics course, including information about the instructor, grading system, course contents, robot components and specifications. The course covers robot components like mechanical structures, end-effectors, transmissions, drives/actuators, sensors and controllers. It also discusses applications of robotics in exploration, industry, medicine, social and military fields.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    01 Robotics Applications, Components and Specifications

    Uploaded by

    Abdallah Akrab
    21 views25 pages
    This document provides an overview of a robotics course, including information about the instructor, grading system, course contents, robot components and specifications. The course covers robot components like mechanical structures, end-effectors, transmissions, drives/actuators, sensors and controllers. It also discusses applications of robotics in exploration, industry, medicine, social and military fields.

    Original Description:

    INTRO TO MECHANICAL

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    This document provides an overview of a robotics course, including information about the instructor, grading system, course contents, robot components and specifications. The course covers robot components like mechanical structures, end-effectors, transmissions, drives/actuators, sensors and controllers. It also discusses applications of robotics in exploration, industry, medicine, social and military fields.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    21 views25 pages

    01 Robotics Applications, Components and Specifications

    Uploaded by

    Abdallah Akrab
    This document provides an overview of a robotics course, including information about the instructor, grading system, course contents, robot components and specifications. The course covers robot components like mechanical structures, end-effectors, transmissions, drives/actuators, sensors and controllers. It also discusses applications of robotics in exploration, industry, medicine, social and military fields.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 25

    Mechanical Engineering

    Part 2: Robotics
    Robotics applications,
    components and specifications

    1
    Mechanical Engineering
    Robotics
    Instructor:
    ‫ بسام عبد اللطيف‬.‫د‬
    Teaching assistant:
    ‫ أحمد السيد الديب‬.‫م‬
    Office Hours (For instructor):
    Thursday: 11:00 AM - 1:00 PM
    3rd floor at Building number 10000 (Machine
    design and production department)

    2
    Mechanical Engineering
    Robotics

    Grading System:
    H.w. : 10 %
    Quizzes and C.W. : 5 %
    Mid-term : 10 %
    Project :5%
    Final exam : 20 %
    Total : 50 % (other 50 % is reserved for heat
    transfer part)

    3
    Mechanical Engineering
    Robotics
    Course contents
    Robot components
    Robot specification and characteristics
    Planner robots mathematics
    Three dimensional robots mathematics

    4
    Robotics applications
    1. Exploration Operations
    Where the working conditions are not suitable for human
    such as:
     work under deep water
     work in outer space
     work in nuclear power stations
     Work at high temperature environment

    5
    Robotics applications
    2. Industrial Applications
    In cases like:
     hazardous or uncomfortable working conditions
     difficult handling (large weigh or size)
     multi-shift operations

    Types of industrial applications:


     Material Transfer
     Machine Loading/Unloading
     Welding
     Spray Coating and Painting
     Assembly

    6
    Robotics applications
    3. Medical Applications
     Artificial limbs
     surgical treatment
    4. Social Life Applications
     Ex: Vacuum machine robot
    5. Military Applications
     Ex: Mine detectors and wireless war planes

    7
    Robot components
    1. Mechanical structures
    2. End-effectors and tooling
    3. Transmission systems
    4. Drives and actuators
    5. Sensors
    6. Brain & controller

    8
    Robot components
    1. Mechanical structures

    Joints used in connecting robot links

    9
    Robot components
    1. Mechanical structures
     Degrees of freedom
     Robotic arm types
    (ex. Cartesian, SCARA, Spherical, Articulated, Stanford )
     Kinematic diagram

    10
    Robot components
    1. Mechanical structures
    Types of robotic arm
    Cartesian robot (PPP)

    11
    Robot components
    1. Mechanical structures
    Types of robotic arm
    SCARA robot (RR)

    12
    Robot components
    1. Mechanical structures
    Types of robotic arm
    Articulated robot (3R+)

    13
    Robot components
    1. Mechanical structures
    Types of robotic arm
    Stanford robot (RRPRRR)

    14
    Robot components
    1. Mechanical structures
    Kinematic diagram

    2-D

    3-D

    15
    Robot components
    1. Mechanical structures
    Kinematic diagram
    Example: SCARA robot in 2-D

    Revolute joints End effector

    Links

    Ground

    16
    Robot components
    2. End-effectors and tooling
    a) Robot gripper
    Mechanical: Two or more fingers or jaws for external/internal
    grasping.
    Vacuum: One or more vacuum cups for handling nearly flat work
    pieces that are reasonably smooth and clean like glass.
    Magnetic: electromagnets or permanent magnets for handling
    ferrous materials.
    Expandable: Inflatable bag or cuff to handle odd shapes and
    fragile materials.
    Adhesive: For soft materials (like cloth) that are of lightweight and
    not suitable for vacuum techniques.

    17
    Robot components
    2. End-effectors and tooling
    b) Robot Tooling
    Spray gun
    Inert gas arc welding torch
    Pneumatic drills, and impact wrenches

    18
    Robot components
    3. Transmission systems
    Transform rotational movements into linear ones and
    vice versa,
    Reduce movements and amplify torques.
    Transmission systems include:
    gears, chains, belts, cables, worm screws, connecting rods.

    Example: Spur gears

    19
    Robot components
    4. Drives and actuators (Linear or rotational)
    a) Electrical motors (mostly rotational)
     DC motor
     AC motor (could be linear)
     Stepper motor
     servo motor
    b) Pneumatic motors
    c) Hydraulic motors

    20
    Robot components
    4. Drives and actuators (Linear or rotational)

    Stepper motor DC Motor

    21
    Robot components
    5. Sensors
    Types of sensors
    a) Kinematic (relative or absolute)
     Position (linear or rotational)
     Velocity (linear or rotational)
     Acceleration

    b) Other
    (ex. Temperature, pressure, humidity, sound, light,
    radiation level, … etc)

    22
    Robot components
    5. Sensors
    Important features for sensors
    High accuracy and precision,
    Wide operating range,
    Instantaneous response,
    High reliability,
    Easy to calibrate, operate and install, and
    Low cost.

    23
    Robot components
    6. Brain & controller

    24
    Robot Specifications
    1. Model (named by supplier)
    2. Load
    3. Configuration (cylindrical, spherical, jointed, or
    Cartesian)
    4. Number of Axes (main axes)
    5. Drive System
    6. Reach
    7. Tool velocity
    8. Application
    9. Robot Precision
    • Resolution, Accuracy and Repeatability

    25

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