Different types of robots
Download
1 / 27

6. - PowerPoint PPT Presentation


  • 430 Views
  • Updated On :

Different Types of Robots Robot Arms (Fixed Robots) Mobile Robots Humanoid Robots Legged Robots Wheel Robots 3 wheels 2 Driver wheels, 1 Caster 1 Driver wheel, 2 Casters 4 wheels Casters make diverse problems in the control of the robot Wheel Robot Main Components Main Components

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about '6. ' - issac


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
Different types of robots l.jpg
Different Types of Robots

  • Robot Arms (Fixed Robots)

  • Mobile Robots

    • Humanoid Robots

      • Legged Robots

    • Wheel Robots

      • 3 wheels

        • 2 Driver wheels, 1 Caster

        • 1 Driver wheel, 2 Casters

      • 4 wheels

        • Casters make diverse problems in the control of the robot


Wheel robot main components l.jpg
Wheel Robot Main Components

  • Main Components

    • Mechanics

      • Wheels

      • Driver Motor (s)

      • Power Transmission System

    • Electronics

      • Controller Board

        • Needing feedback from environment

      • Sensors

        We are now discussing some of the above topics


Different types of motors l.jpg
Different Types of Motors

  • DC Motors

    • You can simply control it

  • AC Motors

    • It’s difficult to be controlled but it can be used in high power applications

  • Servo Motors

    • You have complete control on the shaft angle


Different types of feed back l.jpg
Different Types of Feed Back

  • Sensors

    • IR Sensors

    • Pressure Sensors

    • Light Sensors

    • Temperature Sensors

  • Encoder



Why do we use power transmission systems l.jpg
Why do we use Power Transmission Systems?

  • To reduce Angular Velocity

  • To increase Torque

    P = (T . w) = cte.

    Different Transmission Systems

    • Gear

      • Hard manufacturing

        and adjustment

    • Pulley

So w => T


Slide7 l.jpg
Gear

  • Gears are used to change the speed and force of the motor. You can use gears to:

    • Speed up or slow down your robot.

    • Make your robot stronger or weaker.

  • There are many different types of gears

    • Spur Gear

    • Bevel Gear

    • Worm Gear

    • Rack & Pinion


  • Slide8 l.jpg
    Gear

    • Spur gears are wheels with teeth


    Slide9 l.jpg
    Gear

    • Bevel gears mesh at right angles, so they change the direction of rotation.


    Slide10 l.jpg
    Gear

    • Worm gears look like screws. They have many special properties.


    Slide11 l.jpg
    Gear

    • Rack & pinion gears turn rotational motion into straight-line motion.


    Slide12 l.jpg

    Where does all this “torque” come from?

    Consider a pair of gears that are meshed together.

    F

    A torque on this axle...

    …produces a force at the tooth.

    t

    r

    The moment arm is the radius of the gear.

    Remember: t = F x r


    Slide13 l.jpg

    The force from the small gear’s tooth pushes against

    the large gear’s tooth. This creates an equal (and opposite)

    force in the large gear. This is Newton’s 3rd Law.

    F

    …and produces a

    larger torque on this axle.

    r

    t

    The force acts through this larger moment arm...


    Slide14 l.jpg

    F1 = -F2

    t1

    r2

    r1

    t2

    t1 = F1 x r1

    t2 = F2 x r2

    Analyzing the forces...

    • F1 = t1 / r1

    • F2 = t2 / r2

    • F1 = - F2

    • t1 / r1 = -t2 / r2

    • -t2 / t1= r2 / r1

    The ratio of torques is the ratio of the gear radii.

    This is the gear ratio!


    Idler gear l.jpg
    Idler Gear

    • An idler gear is a gear that is inserted between two other gears. Idler gears do not affect the gear ratio between the input and output gears. The gear ratio would be computed just the same if there were no idler gear.


    Idler gear16 l.jpg
    Idler Gear

    • Recall that when using spur gears, the output axle rotates in the opposite direction as the input axle.

    • You can also use idler gears to change the spacing between the input and output axles

    • Remember, idler gears do not change the gear ratio


    Slide17 l.jpg
    Gear

    The gear ratio of this gear box is 75 to 1

    That means the last axle rotates 75 times slower than

    the first axle. It also means the last axle has 75 times

    the torque as the first axle.


    Slide18 l.jpg

    Try this experiment.

    Have one person turn

    this wheel.

    And have another person

    try to hold on to this wheel.


    Slide19 l.jpg

    Gears can increase the torque (and force) that they exert

    on something. This is known as mechanical advantage.

    torque increases

    BUT, it comes at a price. Do you know what it is?


    Slide20 l.jpg

    2

    D2

    w2

    w1

    D1

    1

    C

    Belt Drives

    • Uses friction to transmit power

    Velocity Ratio:

    D1.w1=D2.w2


    Belt drive basics l.jpg
    Belt Drive Basics

    Size

    Center Distance

    (center shaft to center shaft)

    Shaft Size

    for DR, can use NEMA frame

    Take-up/Installation Allowance

    DR

    DN

    Size

    Motor Nameplate


    Belt drive basics22 l.jpg
    Belt Drive Basics

    4”

    Speed-Down

    N

    10”

    R

    1750 rpm

    10”

    R

    Speed-Up

    N

    4”

    Speed Ratio = 2.5

    700 rpm

    4375 rpm

    Ratio always greater than 1


    How to assemble our robot l.jpg
    How to assemble our Robot

    • Here is our package



    How to assemble our robot25 l.jpg
    How to assemble our Robot

    • Bottom view of the robot


    How to assemble our robot26 l.jpg
    How to assemble our Robot

    • Sensor board assembly


    If you have any further help please contact us at l.jpg

    Please take a look at our website at:

    Robot.schoolnet.ir

    If you have any further help please contact us at:

    [email protected]


    ad