2.1: What is Robotics?

A robot is a programmable mechanical device that can perform tasks and interact with its
environment, without the aid of human interaction.

Robotics is the science and technology behind the design, manufacturing and application of robots.

The word robot was coined by the Czech playwright Karel Capek in 1921. He wrote a play called
“Rossum's Universal Robots” that was about a slave class of manufactured human-like servants and
their struggle for freedom. The Czech word robota loosely means "compulsive servitude.” The word
robotics was first used by the famous science fiction writer, Isaac Asimov, in 1941.
2.1: What is Robotics?

Basic Components of a Robot

The components of a robot are the body/frame, control

system, manipulators, and drivetrain.

Body/frame: The body or frame can be of any shape and

size. Essentially, the body/frame provides the structure of
the robot. Most people are comfortable with human-sized
and shaped robots that they have seen in movies, but the
majority of actual robots look nothing like humans. Typically,
robots are designed more for function than appearance.

Control System: The control system of a robot is equivalent

to the central nervous system of a human. It coordinates
and controls all aspects of the robot. Sensors provide
feedback based on the robot’s surroundings, which is then
sent to the Central Processing Unit (CPU). The CPU filters this
information through the robot’s programming and makes
decisions based on logic. The same can be done with a
variety of inputs or human commands.
2.1: What is Robotics?

Basic Components of a Robot

Manipulators: To fulfill their purposes, many robots are required to interact with their environment,
and the world around them. Sometimes they are required to move or reorient objects from their
environments without direct contact by human operators. Unlike the Body/frame and the Control
System, manipulators are not integral to a robot, i.e. a robot can exist without a manipulator. This
curriculum focuses heavily on manipulators, especially in Unit 6.
2.1: What is Robotics?

Basic Components of a Robot

Drivetrain: Although some robots are able to perform their tasks from one location, it is often a
requirement of robots that they are able to move from location to location. For this task, they require
a drivetrain. Drivetrains consist of a powered method of mobility. Humanoid style robots use legs,
while most other robots will use some sort of wheeled solution.
2.1: What is Robotics?

Uses and Examples of Robots

Robots have a variety of modern day uses. These uses

can be broken down into three major categories:
1. Industrial Robots
2. Robots in Research
3. Robots in Education

Industrial Robots

In industry, there are numerous jobs that require high

degrees of speed and precision. For many years
humans were responsible for all these jobs. With the
advent of robotic technology, it became evident that
many industrial processes could be sped up and
performed with a higher degree of precision by the
use of robots. Such jobs include packaging, assembly,
painting, and palletizing. By the end of 2014, the
International Federation of Robotics predicts that
there will be over 1.3 million industrial robots in
operation worldwide!
2.1: What is Robotics?

Uses and Examples of Robots

Robots in Research

Robots come in very handy in the world of research, as

they often can be used to perform tasks or reach
locations that would be impossible for humans. For
decades, NASA has utilized probes, landers, and rovers
with robotic characteristics to study outer space and
planets in our solar system.
2.1: What is Robotics?

Uses and Examples of Robots

Pathfinder and Sojourner

The Mars Pathfinder mission developed a unique

technology that allowed the delivery of an
instrumented lander and a robotic rover, Sojourner, to
the surface of Mars. It was the first robotic roving
vehicle to be sent to the planet Mars. Sojourner
weighs 11.0 kg (24.3 lbs.) on Earth (about 9 lbs. on
Mars) and is about the size of a child's wagon. It has six
wheels and could move at speeds up to 0.6 meters (1.9
feet) per minute. The mission landed on Mars on July
4th, 1997. Pathfinder not only accomplished this goal
but also returned an unprecedented amount of data
and outlived its primary design life.
2.1: What is Robotics?

Uses and Examples of Robots

Space Shuttle Robotic Arm

When NASA scientists first began the design for the space
shuttle, they realized that there would have to be some
way to get the enormous, but fortunately weightless,
cargo and equipment into space safely and efficiently.
The remote manipulator system (RMS), or Canadarm,
made its first flight into space on November 13, 1981.
The arm has six joints, designed to simulate the joints of
the human arm. Two are in the shoulder, one is at the
elbow, and three are in the highly dextrous wrist. At the
end of the wrist is an end effector which can grab or
grapple the desired payload. In the weightless
environment of space, it can lift more than 586,000
pounds and place it with incredible accuracy. Its total
weight on earth is 994 lbs.
2.1: What is Robotics?

Uses and Examples of Robots

Space Shuttle Robotic Arm

The RMS has been used to launch and rescue satellites

and has proven itself invaluable in helping astronauts
repair the Hubble Space Telescope. The Canadarm’s final
shuttle mission took place in July of 2011, marking the
90th time it was used on a shuttle mission.
2.1: What is Robotics?

Uses and Examples of Robots

Mobile Servicing System

A similar device to the RMS, the Mobile Servicing System (MSS) otherwise known as Canadarm2 was
designed to provide manipulation functions for the International Space Station. The MSS is responsible
for servicing payloads and instruments attached to the International Space Station, while also assisting
with the transport of supplies and equipment around the station.
2.1: What is Robotics?

Uses and Examples of Robots

Dextre
As part of the Space Shuttle mission STS-123 in 2008,
the shuttle Endeavour carried the final part of the
Special Purpose Dexterous Manipulator, or "Dextre.“

Dextre is a robot with two smaller arms. It is capable of

handling the delicate assembly tasks currently
performed by astronauts during spacewalks. Dextre can
transport objects, use tools, and install and remove
equipment on the space station. Dextre also is
equipped with lights, video equipment, a tool platform,
and four tool holders. Sensors enable the robot to
"feel" the objects it is dealing with and automatically
react to movements or changes. Four mounted
cameras enable the crew to observe what is going on.

Dextre's design somewhat resembles a person. The

robot has an upper body that can turn at the waist and
shoulders that support arms on either side.
2.1: What is Robotics?

Uses and Examples of Robots

Robots in Education

The field of robotics has become an exciting and accessible tool for teaching and supporting science,
technology, engineering, mathematics (STEM), design principles, and problem solving. Robotics
enables students to use their hands and minds to create like an engineer, artist, and technician does,
all at once. It allows for instantaneous application of scientific and mathematical principals.

Why is Robotics Important?

As we saw in the uses and examples of robotics section, robotics is an emerging field with applications
in many facets of our lives. It is important for all members of society to have an understanding of the
technology that surrounds us. However, robotics is important for more than that reason. Robotics
provides a unique combination of the pillars of STEM: science, technology, engineering and math.
When taught in schools, it allows students to experience a true interdisciplinary lesson while studying
a cutting edge and exciting topic. Also, the aesthetics which go into the design and creation of robots
allow students to experiment with an artistic side, while working through technical principals. This
combination rewards participants on a plethora of different learning levels.
2.2: VEX Robotics Design System

The VEX Robotics Design System, which was created by Innovation First, Inc. It has been designed to
nurture creative advancement in robotics and knowledge of science, technology, engineering, and
math (STEM) education. The VEX system provides teachers and students with an affordable, robust,
and state-of-the-art robotics system suitable for both classroom use and for use on the competition
playing field. VEX’s innovative use of premade and easily formed structural metal, combined with a
powerful and user-programmable microprocessor for control, leads to infinite design possibilities.
Beyond science and engineering principles, a VEX Robotics project encourages teamwork, leadership
and problem solving among groups. It also allows educators to easily customize projects to meet the
level of students’ abilities.

For more information on the VEX Robotics Design System, please visit: http://www.vexrobotics.com/

VEX Product Subsystems

2.2: VEX Robotics Design System

Structure Subsystem

The parts in the VEX Structure Subsystem form the base

of every robot. These parts are the “skeleton” of the robot
to which all other parts are attached. This subsystem
consists of all the main structural components in the VEX
Robotics Design System, including all the metal
components and hardware pieces. The Structure and
Motion subsystems are very tightly integrated to form the
chassis of the robot.
In the VEX Robotics Design System the majority of the
components in the Structure Subsystem are made from
bent aluminum or steel sheet metal. These pieces come in
a variety of shapes and sizes and are suited to different
applications on a robot.
The VEX structural pieces all contain square holes (0.182”
sq) on a standardized 0.5” grid. This standardized hole-
spacing allows for VEX parts to be connected in almost
any configuration. The smaller diamond holes are there to
help users cut pieces using tin snips or fine toothed
hacksaws without leaving sharp corners.
2.2: VEX Robotics Design System

Structure Subsystem

VEX square holes are also used as an alignment feature

on some components. These pieces will snap into place
in these square holes. For example, when mounting a
VEX Bearing Flat there are small tabs which will stick
through the square hole and hold it perfectly in
alignment. Note that hardware is still required to hold
the Bearing Flat onto a structural piece!
2.2: VEX Robotics Design System

Structure Subsystem

Hardware is an important part of the Structure

Subsystem. Metal components can be attached
together using the 8-32 bolts and nuts which are
standard in the VEX kit. These screws come in a variety
of lengths and can be used to attach multiple
thicknesses of metal together, or to mount other
components onto the VEX structural pieces. Allen
wrenches and other tools are used to tighten or loosen
the hardware. There are also smaller 6-32 bolts in the
VEX Robotics Design System, which are used only for
the mounting of VEX Motors and Servos.
2.2: VEX Robotics Design System

Structure Subsystem

When using screws to attach things together, there are

three different nuts which can be used.
Nylock nuts have a plastic insert which will prevent the
screw from loosening. These nuts are harder to install;
an open-ended wrench is needed to tighten them.
However, these nuts will not shake loose due to
vibration or movement.
KEPS nuts have a ring of teeth on one side of them
which will grip the piece they are being installed on. An
open-ended wrench is not needed to tighten them, but
it is recommended. These nuts are installed with the
teeth facing the structure. They can loosen up over
time if not properly tightened, but they work well in
most applications.
Regular nuts that have no locking feature. These basic
hex nuts require a wrench to install and may loosen up
over time, especially as a result of vibration or
movement. They are thin and can be used in certain
applications where a Nylock or KEPS nut would not fit.
2.2: VEX Robotics Design System

Structure Subsystem

Another useful structural component are the 8-32

threaded standoffs; these standoffs come in a variety
of lengths and add a great deal of versatility to the VEX
kit. Standoffs are useful for mounting components as
well as for creating structural beams of great strength.

One of the key features of many VEX structural parts is

their “bend-able” and “cut-able” nature. Users can
easily modify many of these structural parts into new
configurations better suited for their current needs.
These parts were designed to be modified!
2.2: VEX Robotics Design System

Motion Subsystem

The Motion Subsystem comprises all the components

in the VEX Robotics Design System which make a robot
move, the muscle of the robot. These components are
critical to every robot. The Motion Subsystem is tightly
integrated with the components of the Structure
Subsystem in almost all robot designs. In the VEX
Robotics Design System the motion components are all
easily integrated together. This makes it simple to
create very complex systems using the basic motion
building blocks.
The most fundamental concept of the Motion
Subsystem is the use of a square shaft. Most of the VEX
motion components use a square hold in their hub
which fits tightly on the square VEX shafts. This square
hole / square shaft system transmits torque without
using cumbersome collars or clamps to grab a round
shaft.
2.2: VEX Robotics Design System

Motion Subsystem

The square shaft has rounded corners which allow it to

spin easily in a round hole. This allows the use of simple
bearings made from Delrin. The Delrin bearing will
provide a low friction piece for the shafts to turn in.
These VEX Delrin bearings come in two types, the most
common of which is a Bearing Flat. The Bearing Flat
mounts directly onto a piece of VEX structure and
supports a shaft which runs perpendicular and directly
through the structure. Another type of bearing is a
Bearing Block; these are similar to the “pillow-blocks”
used in industry. The Bearing Block mounts on a piece
of structure and supports a shaft which is offset above,
below, or to the side of the structure. Some bearings
can be mounted to VEX structural components with
Bearing Pop Rivets. These rivets are pressed into place
for quick mounting. These Rivets are removable; pull
out the center piece by pulling up on the head of the
Rivet to get it to release.
2.2: VEX Robotics Design System

Motion Subsystem

The key component of any motion system is

an actuator, which is something which causes a
mechanical system to move. In the VEX Robotics Design
System there are several different actuator options. The
most common types are the VEX Continuous Rotation
Motors and VEX Servos. The Motors can rotate
infinitely, while the range of rotation of the Servos is
restricted to 150 degrees. Each VEX Motor & Servo
comes with a square socket in its face, designed to
connect it to the VEX square shafts. By simply inserting
a shaft into this socket it is easy to transfer torque
directly from a motor into the rest of the Motion
Subsystem.
2.2: VEX Robotics Design System

Motion Subsystem

The Motion Subsystem also contains parts designed to

keep pieces positioned on a VEX shaft. These pieces
include washers, spacers, and shaft collars. VEX Shaft
Collars slide onto a shaft, and can be fastened in place
using a setscrew.
There are several ways to transfer motion in the VEX
Robotics Design System. A number of Motion
Subsystem accessory kits are available with a variety of
advanced options, including spur gears, sprocket &
chains, bevel gears, etc. For a full listing of what is
available, please visit:
http://www.vexrobotics.com/products/accessories/mo
tion
The VEX Motion Subsystem also contains a variety of
components designed to help make robots mobile. This
includes a re variety of wheels, tank treads and other
options. For a full listing of what is available, please
visit: http://www.vexrobotics.com/products/accessorie
s/motion
2.2: VEX Robotics Design System

Power Subsystem

Power is vital to the operation of all the electronic parts

on the robot, including the controller and the motors.
With the structural subsystem as the robot’s skeleton,
and the motion subsystem as the muscle, the power
subsystem is the circulatory system that provides the
rest of the robot with energy.
There are two major power considerations for a VEX
robot; robot power and joystick power. The robot is
powered by a rechargeable 7.2V battery pack. The
VEXnet Joystick is powered by 6 AAA batteries. For
more information on all the power options and
accessories available, please visit:
http://www.vexrobotics.com/products/accessories/po
wer
2.2: VEX Robotics Design System

Sensors Subsystem

The sensor subsystem gives the robot the ability to

detect various things in its environment. The sensors
are the “eyes and ears” of the robot, and can even
enable the robot to function independently of human
control. A robot senses its environment and adjusts its
own behaviors based on that knowledge. A sensor will
generally tell the robot about one very simple thing in
the robot’s environment, and the robot’s program will
interpret that feedback to determine how it should
react.
There are a myriad of sensor options available in the
VEX Robotics Design System. Some of these
include ultrasonic range finders, gyroscopes, light
sensorsand optical encoders. For a full list of all sensors
available, please
visit: http://www.vexrobotics.com/products/accessorie
s/sensors
2.2: VEX Robotics Design System

Logic Subsystem

The Logic Subsystem major component is one of the

VEX Microcontrollers. A microcontroller is the most
integral component of the entire VEX system, because
it coordinates and controls all the other components.
The Logic Subsystem is effectively the robot’s brain.

The VEX Cortex Microcontroller comes preprogrammed

with a default routine which allows users to get their
robots up and running as quickly as possible. With the
use of jumper pins, quick adjustments can be made to
this default code for greater flexibility. For more
advanced programming options, the microcontroller
can be fully user programmed using one of the
available programming options. More information on
these options can be found
here: http://www.vexrobotics.com/products/program
ming
2.2: VEX Robotics Design System

Control Subsystem

The Control Subsystem enables a human operator to

maneuver the robot. Commands are issued through
joysticks and buttons on the VEXnet Joystick, and sent
wirelessly to the robot. In this way, the robot can be
controlled through a combination of manual
and autonomous methods.
The VEXnet Joystick allows a human operator to control
a robot in real time using the innovative VEXnet
Wireless link. The joystick has two 2-axis analog
joysticks, 4 trigger buttons and two 4-button directional
pads.
2.3: Building the VEX Clawbot

Now that the basics about robotics and the VEX Robotics Design System have been covered, it’s time
to find out what all the excitement is about! The next phase is the building of an actual VEX robot, the
VEX Squarebot.

Follow along with the building instructions at;

http://www.education.rec.ri.cmu.edu/content/vex/building/media/squarebot4.pdf
2.4: Engineering Notebook

Directions: Create a Microsoft Word document. Place your name, period and unit # at the top left side
of the document. Type out each question along with a detailed answer.

1. How do robots benefit society?

2. Explain how the different subsystems work together.

3. How does the installation of sensors improve the functioning of the robot?
 Site Works

http://curriculum.vexrobotics.com/curriculum