ROBOTICS SYLLABUS

1. INTRODUCTION TO ROBOTICS
Definitions
Functionality of a robot
Safety and ethics in robotics

2. PRINCIPLES OF ROBOTICS
History of robotics
Types of robots
Basic components of robots

3. ROBOT DESIGN METHODOLOGIES

Steps taken in design process
CAD tools
Simulation software
Microcontrollers

4. ROBOT CONSTRUCTION AND PROGRAMMING

 COARSE NOTES
Introduction to robotics (Form 1,2,3,4)
Robotics – a branch of technology that deals with the design, construction and operation of
robots/ machines that can be programmed to perform certain tasks.
Robot – a machine that can be programed to perform tasks with little or no human
intervention. ie, they can sense their environment and then take action.
Sensor – a device that detects and reacts to physical stimuli such as light, heat , pressure or
motion. They are used to measure and monitor environmental conditions. The detect physical
stimuli and convert it to electrical signals which can is fed into computer processor and
displayed for humans or to control a system.
Actuator – a device that converts energy into mechanical motion or action.
How does robots work
Robots basically replicate human behavior, they use sensors to collect information about their
surroundings and that information is fed as input to the robot computer (processing unit) and
the computer analyzes the information from the sensors and decides what action to take. The
preprogrammed computer (code) controls how the robot responds to its environment. The
robot’s computer sends signals to the actuators (motors) which cause the robot to move and
manipulate objects (action).
Importance of robots

1. In many situations robots can increase productivity and efficiency of production: Unlike
humans, robots don’t get bored, until they wear out, they can do the same task again and
again.

2. They can be very accurate – to fractions of an inch (as is needed for example in
manufacturing of microelectronics)

3. Robots can work in environments which are unsafe for humans – in the nuclear or
chemical industries for example

4. Innovation in Various Fields: Robotics has led to advancements in fields such as healthcare
(surgical robots), agriculture (automated harvesting), and even space exploration (rovers on
Mars).

5. Cost Reduction: By automating routine tasks, companies can reduce labour costs and
improve operational efficiency. Over time, the initial investment in robotic technology often
leads to significant savings.
Disadvantages of robots

1. The use of robots can create economic problems if they replace human jobs
2. Robots can only do what they are told to do – they can’t improvise meaning that safety
procedures are needed to protect humans and other robots

Safety in Robotics
Safety is very important in robotics so as to safeguard operators and prevent injuries.
Safety measures include:
• Displaying clear warning signs to alert people on potential hazards
•Emergency stop button that stops the robot immediately in an emergency
• Keeping operators at a safe distance from the robot using barriers or sensors
• Regularly servicing the robot to ensure it's working properly
• Teaching operators and maintenance staff how to use and maintain the robot
• Preventing unauthorized access to the robot during maintenance or repairs
• Wearing appropriate clothing that is fitted clothing, gloves, and eye protection
• Physical barriers like guard rails or presence-sensing devices to prevent access to hazardous
areas
• Having an emergency response plan for what to do in case of an accident or injury
• Using alarming devices such as lights, signs, whistles, and horns to alert people to dangers

Ethics in robotics
Ethics involves the study of the moral principles and guidelines that govern the design,
development, and use of robots.
Ethical considerations in robotics include:
• Safety: Robots should be designed to be safe and not cause harm to humans
• Privacy: Robots should respect human privacy and dignity
• Bias: Robots should be free of bias and deception
• Transparency: Robots should be transparent and dependable
• Accountability: Human designers should be responsible and accountable for the actions of
their robots
• Job security: The rapid deployment of robots may raise concerns about job security

PRINCIPLES OF ROBOTICS (Form 1,2,3,4)

History and evolution of robotics
Types of robots
1. Fixed robot
These robots are bolted to a certain location ie, the floor, the ceiling, or some other
surface - they are not mobile. Generally, stationary robots are robotic arms designed
for tasks like picking and placing, sorting, assembling, welding, and finishing.

This branch of robots can be further dissected into four main types of
fixed-location robots:
-Articulated arms: These robots generally operate
with four or six axes, depending on the type of task they are to be used for.
-Delta
-SCARA
-Collaborative (Cobots)
2. Mobile robot
A mobile robot is a machine controlled by software that use sensors and other technology to
identify its surroundings and move around its environment. Mobile robots function using a
combination of artificial intelligence (AI) and physical robotic elements, such as wheels,
tracks and legs.

Mobile robots can be classified in two ways: by the environment in which they work and by
the device they use to move.
Classification by environment examples include:
-Aerial robots, also known as unmanned aerial vehicles (UAVs) or drones, which fly
through the air.
-Land or home robots, or unmanned ground vehicles (UGVs), that navigate on dry land or
within houses.
-Underwater robots, or autonomous underwater vehicles (AUVs), that can direct
themselves and travel through water.
-Delivery and transportation mobile robots that are designed to move materials and
supplies around a work environment.
Classification by device for movement examples include:
-legs (human-like or animal-like legs)
-tracks
-wheels
NB. There are also two main types of mobile robots: autonomous and non-autonomous, or
guided, mobile robots.
-Guided mobile robots require some form of instruction or guidance system in order to move,
whereas autonomous mobile robots (AMRs) are able to move and explore their surroundings
without any sort of external direction.
AMRs differ from autonomous guided vehicles (AGVs) because AMRs possess the ability to
be more independent. AGVs typically require external guidance, such as magnet strips, wires
or sensors installed in the environment's floor, thus creating an inflexible system that is both
expensive and difficult to adjust as needs change. AMRs aim to overcome these obstacles by
requiring little to no external guidance

Basic components of a robot

1. Sensors
Sensors are critical components in robotics that allow robots to perceive their environment.
They gather data from the surroundings and convert it into signals that can be processed by
the robot’s control system.
Common types of sensors include:
-Proximity Sensors: Detect the presence of nearby objects without physical contact, using
technologies such as infrared or ultrasonic waves.
-Light Sensors: Measure light intensity, often used for navigation or to adjust the robot’s
behavior based on ambient light conditions.
-Temperature Sensors: Monitor environmental temperature, which can be crucial for robots
operating in varying thermal conditions.
-Gyroscopes and Accelerometers: Provide information about orientation and movement,
essential for balance and navigation in mobile robots.
2. Gears
Gears are mechanical components that transmit motion and torque between parts of a robot.
They can change the speed and direction of movement, allowing for precise control over
actuators.
3. Microcontrollers
Microcontrollers serve as the brain of a robot, processing inputs from sensors and controlling
outputs to actuators.
Examples of microcontrollers include:
-ESP32: A powerful microcontroller with built-in Wi-Fi and Bluetooth capabilities, suitable
for IoT applications and complex robotic tasks.
-ESP8266: A less powerful but cost-effective microcontroller primarily used for Wi-Fi
connectivity in simpler projects.
-STM32: A family of 32-bit microcontrollers known for their performance and versatility,
widely used in industrial applications due to their extensive peripheral support.
4. Power Supply
The power supply is essential for providing energy to all components of a robot. It can come
from various sources such as batteries (Li-ion, NiMH), solar panels, or AC adapters. The
choice of power supply affects the robot’s operational time, weight, and overall design.
5. Actuators
Actuators convert electrical energy into mechanical motion.
Different types include:
-DC Motors: Simple motors that provide continuous rotation; they are easy to control but
require additional components like encoders for precise positioning.
-Servo Motors: Designed for precise control over angular position; they typically have built-
in feedback mechanisms which make them ideal for applications requiring accurate
movements.
-Stepper Motors: Move in discrete steps, allowing for precise control over position without
needing feedback systems; commonly used in 3D printers and CNC machines.
-Vibration Motors: Produce vibrations rather than rotational motion; often used in haptic
feedback applications or small devices like mobile phones.
6. Motor Drive Motor drivers are electronic circuits that control the operation of motors by
regulating voltage and current supplied to them. They allow microcontrollers to manage
motor speed, direction, and torque effectively. Common types include H-bridge drivers (for
DC motors) and dedicated servo drivers

ROBOT DESIGN METHODOLOGY (Form 2,3,4)

Methodology
Steps involved:
1. Requirements Analysis: This initial phase involves gathering and analyzing the specifications and
requirements for the robot. This includes understanding the tasks it needs to perform,
environmental constraints, user interactions, and safety considerations.
2. Conceptual Design: In this stage, designers create preliminary designs that outline how the robot
will function. This may involve brainstorming sessions, sketching ideas, and developing initial
models.

3. Detailed Design: Once a concept is chosen, detailed designs are created using CAD tools. This
includes designing mechanical components, electrical systems, and software architecture.

4. Prototyping: After detailed designs are completed, prototypes are built to test concepts in real-
world scenarios. Prototyping can be iterative; feedback from testing can lead to further refinements.

5. Testing and Validation: The prototype undergoes rigorous testing to ensure it meets all specified
requirements. This phase often includes simulations as well as physical tests.

Tools for designing the 3D model of the robot

Computer-Aided Design (CAD) tools are crucial for creating detailed 3D models of robotic
components
Examples include:
1. SolidWorks
A widely used CAD software that allows engineers to create 3D models of parts and
assemblies.
2. AutoCAD
Primarily used for 2D drafting but also supports 3D modelling.
3. Fusion 360
A cloud-based CAD tool that integrates CAD with CAM (Computer-Aided Manufacturing)
capabilities.
4. CATIA
Used in complex engineering projects; it offers advanced surface modelling capabilities.
Simulation Software
Simulation software assist in visualizing how a robot will behave in different environments
before physical prototypes are built:
Examples include:
1. Gazebo
An open-source robotics simulator that integrates with ROS (Robot Operating System) to
provide realistic environments for testing.
2. Webots
A professional robot simulator that allows users to model robots in various scenarios.
3. MATLAB/Simulink
Provides simulation capabilities particularly useful for control system design and analysis.
Microcontrollers
Microcontrollers serve as the brain of many robots through execution of programmed
instructions(code).
-Arduino
This is an open-source electronics platform based on easy-to-use hardware and software;
ideal for beginners in robotics.
-ESP32/ESP8266
Microcontrollers with integrated Wi-Fi capabilities; useful for IoT-enabled robotics projects.
Additional Software Applications
In addition to CAD tools and microcontrollers, other software applications play significant
roles in robot design:
-ROS (Robot Operating System): A flexible framework for writing robot software; provides
libraries and tools to help build robotic applications.
-Blender: While primarily known as a graphics tool, Blender can be used for modelling
robotic components due to its powerful mesh editing features.

ROBOT CONSTRUCTION AND PROGRAMMING (Form 2,3,4)

Practicals
Example projects:
-Line following robot
-Obstacle avoiding robot
-Robotic arm