Introduction
to
Robotics
(Robotics drive systems)
part-2
By- Dr. Mithilesh Kumar Koiri
(Assistant Professor )
School of Robotics & AI
Nims Institute of Engineering & Technology,
NIMS University, Jaipur, Rajasthan (India)
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Introduction of Robotics part 1, Lecture notes of Introduction to Robotics
Dive into the exciting world of robotics with our comprehensive introduction to robotics notes! Perfect for beginners and enthusiasts, these notes cover the essentials of robotics, including foundational concepts, types of robots, sensors, actuators, and control systems. Learn about the latest advancements in robotics technology and explore practical applications in various industries. With clear explanations and diagrams, this resource is designed to help you build a solid understanding of robotics. Whether you're a student, educator, or robotics hobbyist, these notes will guide you through the fundamentals and spark your curiosity. Start your robotics journey today!
Typology: Lecture notes
2023/2024
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Introduction
to
Robotics
(Robotics drive systems)
part- 2
By- Dr. Mithilesh Kumar Koiri (Assistant Professor ) School of Robotics & AI Nims Institute of Engineering & Technology, NIMS University, Jaipur, Rajasthan (India)
contents
- Some terminologies related to robot
- Mechanical drives
- Electrical drives
- Hydraulic drives
- Pneumatic drives
Degree of freedom of a robot
- The degrees of freedom of a robot typically refer to the number of movable joints of a robot. A robot with three movable joints will have three axis and three degrees of freedom, a four axis robot will have four movable joints and four axis, and so on.
Degree of freedom DOF= DOF=3X4= DOF=
Robotic Link and Robotic Joints Robotic Link: Link is a mechanical structural member of a robot, it consider to be rigid and does not deform under any Force (however large it may be) applied to it. Robotic Joints: Joints are movable coupling between two or more joints. Mainly two types of joints are used in robotics
- Prismatic joint (Linear, orthogonal)
- Revolute joint ( rotational, twisting, revolving)
- Degree of Freedom =6- Number of restraints In mechanism, one link is fixed- Number of movable links=N- 1 Now, DOF of movable links= 6(N-1) Each pair having one degree of freedom will impose 5 restrains by reducing the degrees of freedom by 5P 1
- Similarly, Each pair having two degrees of freedom will impose 4 restrains by reducing the degrees of freedom by 4P 2
- And so on…
- Finally,
- DOF of movable links= 6(N-1)- 5P 1
- 4P
2
- 3P
3
- 2P
4
- P
5
- In planer mechanism
- DOF of movable links= 3(N-1)- 2P 1
- P
2
- This is known as Gruebler’s Criterion
Symbolic representation of robots (a)Prismatic joint (b)Twist Joint (c)Revolute Joint
Work envelop or space and Payload capacity of robot
- Work envelop or space: A robot can only work in the area in which it can move. This area is called the work envelope. The work envelope is determined by how far the robot’s arm can reach and how flexible the robot is. The more reach and flexibility a robot has, the larger the work envelope will be.
- Payload capacity: it is the load capacity that can be handled by that robot.
Robotic Accuracy, precision and repeatability
- Accuracy: The accuracy of a manipulator can be described as how close the arm will be when it moves to the desired point. Accuracy means the difference between an observed outcome from a standard. For example, you could compare how far an arrow is from the center of a target. However, a precision study compares different observed outcomes.
- Precision: Precision is defined as how accurately a specified point can be reached.
- Repeatability: Repeatability is how accurately the same position can be reached if the motion is repeated many times. Repeatability is the typical variation that occurs when a person measures a part with the same tool (or gauge) multiple times.
Types Grippers (mechanical, electrical, hydraulic, pneumatic)
Gripper design(Mechanical/ Electrical)
- Friction force