Robotics by B.krishna Chaitanya 07R11A0409 Geethanjali College of Engineering and Technology

ROBOTICS
By
B.krishna chaitanya
07R11A0409
Geethanjali college of engineering and
technology
What is a robot?
 Robot is an
electromechanical
device , that does
the specified job
assigned under the
control of the
humans (us)
What is Robotics?
 Robotics is the branch of technology that

deals with the design, construction, operation,
structural disposition, manufacture and
application of robots.
 Robotics is related to the sciences of
electronics, engineering, mechanics, and
software
History of Robotics
 In 1921, Czech writer Karel Čapek introduced

the word "robot" in his play R.U.R. (Rossum's
Universal Robots). The word "robot" comes
from the word "robota", meaning, in Czech,
"forced labour, drudgery"
 In 1942, the science fiction writer Isaac
Asimov formulated his Three Laws of
Robotics, and in the process of doing so,
coined the word "robotics"
History of Robotics
 In 1948, Norbert Wiener formulated the

principles of cybernetics, the basis of practical
robot.
 The first digitally operated and programmable
robot, the Unimate, was installed in 1961 to lift
hot pieces of metal from a die casting
machine and stack them
Most Important parts of a Robot
 Power sources
 Actuation
 Sensing
 Manipulation
 Locomotion
 Artificial intelligence and neural networks
Power sources
 pneumatic (compressed gases)

 hydraulics (compressed liquids)
 flywheel energy storage
 organic garbage (through anaerobic
digestion)
 radioactive source
 Many untested sources like nuclear power
Actuation
 Actuators are like the

"muscles" of a robot,
the parts which
convert stored
energy into
movement.
 Eg:electric motors
Actuators
 Electric motors:
brushed and
brushless DC and
AC motors and CNC
machines.
Actuators
 Linear Actuators: They are typically powered

by compressed air (pneumatic actuator) or an
oil (hydraulic actuator).
 Series Elastic Actuators: A spring can be
designed as part of the motor actuator, to
allow improved force control.
Actuators
 Air muscles: These are special tubes that

contract (typically up to 40%) when air is
forced inside it.
 Muscle wire: (Also known as Shape Memory
Alloy, Nitinol or Flexinol Wire) is a material
that contracts slightly (typically under 5%)
when electricity runs through it.
Actuators
 Electroactive Polymers: (EAPs or EPAMs) are

a new plastic material that can contract
substantially (up to 400%) from electricity, and
have been used in facial muscles and arms of
humanoid robots, and to allow new robots to
float, fly, swim or walk.
Actuators
 Piezo motor: piezoceramic elements,

vibrating many thousands of times per
second, cause linear or rotary motion. The
advantages of these motors are nanometer
resolution, speed, and available force for their
size.
Actuators
 Elastic nanotubes: These are a promising

artificial muscle technology in early-stage
experimental development. The absence of
defects incarbon nanotubes enables these
filaments to deform elastically by several
percent, with energy storage levels of perhaps
10 J/cm3 for metal nanotubes. Human biceps
could be replaced with an 8 mm diameter wire
of this material.
Sensing

Touch:The sensor array is constructed as a
rigid core surrounded by conductive fluid
contained by an elastomeric skin. Electrodes
are mounted on the surface of the rigid core
and are connected to an impedance-
measuring device within the core. When the
artificial skin touches an object the fluid path
around the electrodes is deformed, producing
impedance changes that map the forces
received from the object.
Sensing
 Vision:Computer vision systems rely on image

sensors which detect electromagnetic
radiation which is typically in the form of either
visible light or infra-red light. The sensors are
designed using solid-state physics.
Sophisticated image sensors even require
quantum mechanics to provide a complete
understanding of the image formation
process.
Manipulators
 Robots which must work in the real world

require some way to manipulate objects; pick
up, modify, destroy, or otherwise have an
effect. Thus the "hands" of a robot are often
referred to as end effectors, while the "arm" is
referred to as a manipulator.
Manipulators
 Mechanical Grippers: open,close, pick up let

go of small objects
 Vacuum Grippers: Pick and place robots for
electronic components and for large objects
like car windscreens
 General purpose effectors: Some advanced
robots are beginning to use fully humanoid
hands,
Locomotion
 Movement of the
Robot either by
wheels or by legs is
termed as
locomotion
Locomotion
 mobile robots have

four wheels or a
wheeled robots with
only one or two
wheels(segway)
 Walking robots: I cub
Environment interaction and
Navigation
 RADAR,LIDAR and
GPS, combined for
obstacle avoidance
and detection
Aircraft
 Today, there are

Airplanes are
provided with auto
pilot robot,This runs
the robot without a
human.
 Is also used for
attack planes
Human Robot interaction
 Speech recognisation: hard,accent

 Gestures: signalling, traffic
 Facial expressions:Robotic faces, elastic
polymer called Frubber, allowing a great
amount of facial expressions due to the
elasticity of the rubber facial coating and
imbedded subsurface motors (servos) to
produce the facial expressions.
Control

The mechanical structure of a robot must be
controlled to perform tasks. The control of a
robot involves three distinct phases -
perception, processing, and action

Sensors give information about the
environment or the robot itself

his information is then processed to calculate
the appropriate signals to the actuators
(motors) which move the mechanical.
Autonomy levels
 Direct interaction : full control

 Operator-assist modes have the operator
commanding medium-to-high-level tasks
 An autonomous robot may go for extended
periods of time without human interaction
Autonomy levels
 Teleoperation:
 Supervisory:
 Task-level autonomy:
 Full autonomy:
Dynamics and kinematics
 Direct kinematics refers to the calculation of

end effector position, orientation, velocity, and
acceleration
 dynamics are used to study the effect of
forces upon these movements
Robots and implementation
 SCORBOT-ER 4u -
educational robot.
Vex Robotics Design System
 To introduce
students the world of
robotics
Hexapod
 A six leg walking

Robot
Robonaut
 First Robot sent to

space by NASA
 SPHERES
 The Synchronized
Position Hold,
Engage, Reorient
Experimental
Satellites
(SPHERES)
Dextre
 Dextre, also known

as the Special
Purpose Dexterous
Manipulator (SPDM),
is a two armed robot,
or telemanipulator,
which is part of the
Mobile Servicing
System on the ISS
Humonoid Robots
 These Robots
resemble humans so
they are so called...
 Nao is the Robot
designed for
companionship, It
also competes in the
RoboCup soccer
championship.
Any queries?
Thank you

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ROBOTICS

 Robotics is the branch of technology that

 In 1921, Czech writer Karel Čapek introduced

 In 1948, Norbert Wiener formulated the

 pneumatic (compressed gases)

 Actuators are like the

 Linear Actuators: They are typically powered

 Air muscles: These are special tubes that

 Electroactive Polymers: (EAPs or EPAMs) are

 Piezo motor: piezoceramic elements,

 Elastic nanotubes: These are a promising

 Vision:Computer vision systems rely on image

 Robots which must work in the real world

 Mechanical Grippers: open,close, pick up let

 mobile robots have

 Today, there are

 Speech recognisation: hard,accent

 Direct interaction : full control

 Direct kinematics refers to the calculation of

 A six leg walking

 First Robot sent to

 Dextre, also known

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