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Working and Brief Study of robotic arm

Working and Brief Study of robotic arm

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Published by anon_126479169
Working and Brief Study of robotic arm in PPT format prepare by AHSAN
Working and Brief Study of robotic arm in PPT format prepare by AHSAN

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Categories:Types, School Work
Published by: anon_126479169 on Sep 25, 2012
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Under supervision of

Dr.Haroon Ashfaq
Ahsanul Haq (07-EES-02) Ankit Kumar (08-EES-11 ) Nazeer Ahmad (06-EES-39)

Prepared by :-

    

Introduction Use of robotic arm Application Control Technology and working References

What is robotic arm?
 A robotic arm is a controlled ,reprogrammable multifunction manipulator  Design to move materials, parts tools, or special devices through variable programme motions for the performance of variety of tasks.  Human arm's job is to move their hand from place to place.  The robotic arm's job is to move an end effector from place to place

          

Automobile Construction Health care: surgery , research, etc. Laboratories: science, engineering , etc. Manufacturing Military: demining, surveillance, attack, etc. Mining, excavation, and exploration Transportation: air, ground, rail, space, etc. Utilities: gas, water, and electric Warehouses Repairing

Robotic surgery

packing in industry

Paint a car

artificial arm

      

Material handling Material transfer Machine loading and/or unloading Spot welding Continuous arc welding Assembly Painting on auto industry

 Servo motor based robotic arm.  The arm devised to perform some of the task which can be perform by a human arm  Degree of freedom , the no of joints determine the degree of freedom of the arm. a place where it can bend or rotate or translate.  Generally robotic arm is a 6 degree of freedom.  We can increase the degree of freedom to increase the joints as per our need.

 The workspace of robotic arm is all places that the end effector (gripper) can reach.  The workspace is dependent on the DOF angle/translation limitations, the arm link lengths  The workspace is highly dependent on the robot configuration.

3 degree of freedom

maximum of 180 degrees

Essential characteristics
 Mobility: It possesses some form of mobility.

Programmability: implying computational or symbolmanipulative capabilities that a designer can combine as desired (a robot is a computer). It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically.
 Sensors: on or around the device that are able to sense the environment and give useful feedback to the device  Mechanical capability: enabling it to act on its environment rather than merely function as a data processing or computational device (a robot is a machine)  Flexibility: it can operate using a range of programs and manipulates and transport materials in a variety of ways

Power conversion unit Sensors Actuators

User interface

Manipulator linkage Base

 Sensor:- accelerometer, vision sensor ,force sensor  Actuator:- synchronous motor, stepper motor ac servomotor brushless dc servomotor brushed dc servomotor  Controller:- storage devices, computational engine  Interface unit:- analog to digital converter, operational amplifier

Sensors controller Actuators

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Synchronous Asynchronous Brushless DC Servo Brushed DC Servo Stepper motor Traction Motor AC Servo Motors Pneumatic

Stepper Motor

DC Motor

pneumatic motor

servo motor

 Provide necessary intelligence to control the manipulator/mobile robot  Process the sensory information and compute the control commands for the actuators to carry out specified tasks Storage Devices

 Computational engine that computes the control commands
RoboBoard Robotics Controller

 Interface units: Hardware to interface digital controller with the external world (sensors and actuators)

Operational Amplifiers Analog to Digital Converter

 Tactile Sensors (Touch Sensors, Force Sensors)
Ex:- limit switches, micro switches etc.

 Proximity Sensors
Ex:- optical proximity sensors, magnetic field proximity sensors.

 Range Sensors.  Navigation Sensors.
Ex:- Global Positioning Systems (GPS), Magnetic Compasses.

 Vision Sensors  Miscellaneous Sensors

Vision sensor

Force sensor

 Control system engineering.(fifth edition). I J Nagrath, M. Gopal Topic - robotics on page 8  J.M. Lee, B.S. Park, Y.S. Lee, J.S. Ahn, S.H. Lee, S.J. Lim, C.S. Han, “The development of the robot manipulator for an intelligent service robot,” International Joint Conference on SICE-ICASE, pp. 282-287,2006  TechCast Article Series, Jason Rupinski and Richard Mix, "Public Attitudes to Androids: Robot Gender, Tasks, & Pricing" Gutkind, L. (2006).  F. P. Preparata and M. I. Shamos, Computational Geometry: An Introduction. Springer, 1985.

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