2nd session robista (mech.)

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