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ROBOTICS

The term robotics refers to the behavior of any device that can alter its operation in responseto a command or a change in its environment.

Important events

3000 BC : Water powered clocks were build by the Egyptians.

1769 : Beginning of the Industrial revolution, the steam engine is patented.

1793 : Cotton Gin Automation (Eli Whitney)

1801 : Punch Card Controlled loom (Joseph Jacquard)

1830 : Cam Programmable Lathe (Christopher Spencer)

1892 : Motorized Crane (Seward Babbit)

1921 : Rossums Universal Robots (RUR) (Karel Capek)- From his play coins the word ROBOTA

1946 : Programmable automation by magnetic process controller (George Devol)

1951 : Tele-operator remote manipulator equipment developed for radioactive situation(Raymund Goertz)

1952 : Numerical controlled machine tool (MIT)

1954 : Programmable Robot (George Devol)

1959 : First commercially available robot (Planet Corp.)

1968 : Intelligent Robot using vision (Charles Rossen)

1970 : Stanford Arm Demonstrated (Victor Sheinman)

1978 : PUMA ( Programmable Universal Machine for Assembly) ( Unimation)

1981 : Direct-drive manipulator (H. Asada and T. Kande)

1984 : Pogo stick and running Robots ( Marc Railbert)

ROBOT

A multifunctional, programmable manipulator designed to move parts, materials, tools andspecial devices through variable programmed motions for the performance of a variety ofdifferent tasks.

It is devices that can move react to sensory input.

It is a device that operates with some degree of autonomy, usually under computer control.

APPLICATION OF ROBOT

Used for manufacturing, specifically for repetitive task on production lines.

Material handling, storage, transport and delivery.

Used in hazardous environment.

Tele-presence- Medical Operation- Space Exploration

Games

ROBOT TERMINOLOGY

Preprogrammed locations Paths that the robot must follow to accomplish work.

Manipulator the arm of the robot

Manipulator Axes degree of freedom of the robot arm.

Tooling and Grippers attachments that fit on the end of the robots arm.

Work cell An environment in which the robot must perform its task.

BASIC COMPONENTS

ManipulatorControllerPower SupplyEnd Effectors

MANIPULATOR/ACTUATOR

It performs the physical work of the robotic system.

It is a device that produces mechanical motions- Motors

- Cylinders-

It consist of two elements

- Joints- Axis (where the motion is produced)

- Linear- Twisting- Rotation- Revolving

- Links- Rigid part that connects the joints

It consist of two sections

- Mechanical Section- Attached appendage

Kinds of actuators

- Electric- Motion: rotary but can be converted to linear.- Ranges from simple stepping motors to dc servos that provides excellent- Prefers for its simplicity, control of force, and position.- It has low starting torque and needs gearing.

- Hydraulic- Motion: linear, can be rotary.- It has a high ratio of force and power to eight off actuators- Good position control however can be messy.

- Pneumatic- Motion: Linear, can be rotary.- Difficult to control in position.