Robot Leg Mechanism.ppt
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Transcript of Robot Leg Mechanism.ppt
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• PRESENTED BY -
CHOUDHARY SUMIT AJAY
“ROBOT LEG MECHANISM”
A SEMINAR
PRESENTATION ON
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COMPONENTS OF ROBOT LEG
Structure
Power source
ActuationMobility
Sensing
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STRUCTURE(KINEMATIC CHAIN)
LINKS(BONES)
ACTUATORS(MUSCLES)
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POWER SOURCE
POWER SUPPLY
A.C. D.C. SOLAR
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TYPES OF ACTUATORS
Electrical
Hydraulic
Pneumatic
Others
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ELECTRICAL ACTUATORS
The types of Actuators we use in Robotics are:AC motorsDC motorsDC geared motorsStepper motorsServo motors
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TYPES OF SENSORS
• IR SENSOR
• SOUND SENSOR
• TEMPERATURE SENSOR
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PID CONTROL SYSTEM
Proportional-integral-derivative (PID) control
Is control loop feedback mechanism
Controller minimizes the error
three-term control: P I D
PID equation
Kp – Proportional GainKi – Integral GainKd- Derivative Gain
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LOCOMOTION
DOF
TRANSATIONAL
ROLL,PITCH,YAW
ROTATION
X,Y,Z
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TYPES OF LOCOMOTION MECHANISM
loco
mo
tio
nwheeled
crawler
legged
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Robot leg
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STABILITY
STABILITY
STATIC
(mech. design)DYNAMIC
(control)
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STABILITY OF A ROBOT
STABILITY
BIPED
CG
ZMP
QUADRUPPED CG
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where x.... , y.... and ..z.. are linear
accelerations, Iix and Iiy , are inertia
coefficients, aix and aiy are
angular accelerations, mi is the mass of the link
i, and g is the gravitational acceleration
DETERMINATION OF ZMP
Biped lumped mass model.
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The ZMP is defined as the point on the ground where the sum of all the active moments of force is null.
Minimum distance between the ZMP and the border of the stable region is called the stability margin
This can be considered as an indicator of the quality of the robot’s stability.
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CHARACTERISTICS OF HUMANOIDS
• Self-maintenance
• Autonomous learning
• Avoiding harmful situations to people, property, and itself
• Safe interacting with human beings and the environment
• Legged locomotion
• Arm control and dexterous manipulation
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LEG-WHEEL HYBRID ROBOTS
• • The Mini-Andros is used
• by bomb squads across
• the country to locate and
• dispose of bombs. About
• three feet long, the Mini-
• Andros looks something
• like a small armoured
• tank with eight wheels on
• four "legs" that extend
• for climbing stairs.
Shrimp (EPFL)
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a) Biped leg-wheel robot (1998) b) Roller Walker (1996)
c) RHex (2001) d) Whegs II (2003)
Leg–wheel hybrid robots
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Disadvantages Advantages
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APPLICATION OF
HUMANOIDS
SPACE
MEDICAL SCIENCE
WARFRONTS
INDUSTRIES
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Prosthetics Inspection of
dangerous environments
Entertainment Agricultural work
APPLICATIONS
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Q
U
E
R
I
E
s
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