Robotics
A real industrial robot
With SIX revolute jointsA revolute joint has ONE degree of freedom ( 1 DOF) that is
defined by its angle
1
23
4
There are two more joints on the end effector (the
gripper)
“Robot” coined by Karel Capek in a 1921 science-fiction Czech play
“A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America)
Definition:
Alternate definition:
“A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear.”
MIT’s Kismet: a robot which exhibits expressions, e.g., happy, sad, surprise, disgust.
Automation vs. robots
• Automation –Machinery designed to carry out a specific task– Bottling machine– Dishwasher– Paint sprayer
• Robots – machinery designed
to carry out a variety of tasks– Pick and place arms– Mobile robots– Computer Numerical Control
machines
(These are always better than robots, because they can be optimally designed
for a particular task).
• Actions– Simple joints
• prismatic—sliding joint, e.g., square cylinder in square tube
• revolute—hinge joint– Compound joints
• ball and socket = 3 revolute joints• round cylinder in tube = 1 prismatic, 1
revolute• Mobility
– Wheels– multipedal (multi-legged with a sequence of
actions)
Kinematics and dynamics (cont.)
Feedback control
• Rotation encoders
• Cameras
• Pressure sensors
• Temperature sensors
• Limit switches
• Optical sensors
• Sonar
Materials for Robotics
Bending of a Carbon nanotube
J.-P. Salvetat Adv. Mat. 11, 161-65 (1999).J.-P. Salvetat Phys. Rev. Lett. 82, 944-47 (1999).
Young’s Mod. = 810GPa.Shear Mod = 1GPa.
100 times smaller than a human hair (50-100um)
CNT’s are 100x stronger than steel.
Already being used in bridges
Neal Bridge, Pittstown, ME, USA
Micromotors for robotics
Watch motors: mechanical motors presently are 1-5mm in size.CNT motors are 0.01mm in size.
To be used for muscle joints, grips, making robot hands. S
An inverted pendulum robot (Strictly for fun!)
Has real applications: e.g., Segway transporter
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