2nd session robista (mech.)
TRANSCRIPT
Robotics
Analysis Revision &
Robotics Manipulation
Terminologies
• Link.• Chain.• Mechanism.• Machine.• Robot.
1 .Geneva Mechanism
2 .Ratchet & pawl mechanisms
3 .Linear Intermittent Geneva mechanism
Four bar mechanism•Grashof condition
Crank Rocker 4 bar mechanism
Double rocker mechanism
Barker classification
Crank Slider Mechanism
Crank Slider Mechanism
Kinematic diagrams
Kinematic diagrams
Kinematic diagrams
Kinematic diagrams
Kinematic diagrams
Hydraulic Cylinder
Kinematic diagrams
Pneumatic Cylinder
Kinematic diagrams
Kinematic diagrams
Kinematic diagrams
Kinematic diagrams
Kinematic diagram
Kinematic Diagrams
Kinematic Diagrams
Joints classification
• According to geometry:
Joints classification
• According to pairs order:2D: J1 & J2.3D: J1, J2, J3, J4 & J5.
Degrees of freedom meaning
Degrees of freedom calculationFor 2D mechanism:
Example
Degrees of freedom calculationFor 3D mechanism:
Degrees of freedom calculation
Minions Video Teamwork
Teamwork
What ???
Why ???
How ???
Teamwork
Individuals with different skills and interests work together to achieve their common goals .
Why Teamwork ??
Effective Teams
What are Characteristics of Effective Teams ?
Members have a clear goal
Members are competent
There is a plan for achieving the goal
The focus is on achieving results
Members have clear roles
They achieve decisions through consensus
More Characteristics
Diversity among team members
They know each other and have good relationships
What are the Four Stages of Team Development?
Forming Storming Norming Performing
Every effective team goes through these life cycle stages
Forming
Team members are introduced and begin getting to know each other
Goals and tasks are established
Generally polite behavior among members
Norms are not understood
Storming
Members are sizing each other up and voice their views
May argue about goals or how they should be accomplished
May choose sides against other members
Norming
Once issues are resolved, agreement occurs around team norms and expectations
Trust and common interests are developing
Roles and objectives are clarified and understood
Performing
Members make contributions and are motivated by results
Leadership is shared according to members’ knowledge and skills
Norms and culture are well understood
Tasks get accomplished effectively and efficiently
Effective & Efficiency
Fluid control System
Pneumatic System.
Hydraulic System.
Applications
Pneuscrew pneumatic fasteners video
Pneumatic control system
Actuators Power source Control units
Main parts:-
CylindersDouble Acting Cylinder
Pneumatic cylinder video
Cylinders Single Acting Cylinder
Single acting cylinder with spring
Double acting , double ended
Pneumatic control system
Actuators Cylinders
Power source Control units
m
Air compressors
Video
Air reservoir
Pneumatic control system
Actuators Cylinders
Power sourcecompressor reservoir
Control units
Pneumctic ontrol system
Actuators • Cylinders
Power source• Reservoir
Control units• Flow control valves
Pneumatic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)
eg.
Flow control valves
Video
Pneumatic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves
(kinetic analysis)
Regulator
Gauge (manometer)
Hydraulic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves (kinetic analysis)• Non return valve
Non return valve
Hydraulic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves
(kinetic analysis)• Non return valves • Directional control valves
Directional control valves
• One position (fun.)
• Two position
Number of positions (Y)
Flow direction line
Shut off position
Number of ports (X)
The valves called: (x/y) valve
5 ports
4/2 valve
2/2 valve
4/3 valve
5/3 valve
Video
Push button control valve
Lever control valve
Solenoid control valve
Pneumatic control systemPower source
Control units Actuators
• Motor • Flow control • Cylinders
• Compressor • Pressure control
• Motors
• Reservoir • Non return
• directional
Hydraulic control systemPower source Control units Actuators
• Motor • Flow control • Cylinders
• Pump • Pressure control
• Motors
• Oil tank • Non return
• directional
Symbols
What’s Pneumatic????
Pneumatic circuits
Power
P= T*w
P= V*I
P= P*Q’
P= F*v
We are going to move it.
Start Zone
End Point
Lv =1 mLH =2 m Time= 2 min.
Dimension of robot= 40*40
Note: you can change motor speed by changing voltage i.e. 24 V 110 rpm12 V 55 rpm
Results
Around itself.
Around Wheel.
On a Curve.
Omni Wheel
Omni Wheel
Video Omni Wheel