ROBOHOLICS

WHAT IS A “ROBOT” ???

ROBOT
A robot is a reprogrammable, multifunctional manipulator designed to
move material, parts, tools or specialized devices through variable
programmed motions for the performance of a variety of tasks:
Robot Institute of America, 1979
 • WALL-E

• Mars Rover • I Robot

• Terminator
ROBOTICS
 Types of Mobile Robots
• Wheeled
• Legged
• Climbing
• Flying
Components of ROBOTS
• Structure
• Power source
• Actuation
• Sensing
• Manipulation
• Locomotion
 Structure
• The structure of a robot is usually mostly
mechanical and can be called a kinematic
chain.
• The chain is formed of links (its bones),
actuators (its muscles), and joints which
can allow one or more degrees of freedom.
 Power Supply
• Suitable power supply is needed to run the
motors and associated circuitry.
• Typical power requirement ranges from 3V to
24V DC
• 220V AC supply must be modified to suit the
needs of our machine
• Batteries can also be used to run robots
 ACTUATION
• Actuators are the "muscles"
of a robot, the parts which
convert stored energy into
movement.
• The most popular actuators
are electric motors.
 MOTORS
• Robots are driven by different motors :-
o DC Motors
o Stepper Motors
o Servo Motors

DC Motor Stepper Motor Servo Motor

• DC Motors
o As the name suggests, a
motor which uses a DC
(Direct Current) power
o Can run in both directions
o Speed Controllable
• Stepper Motors
o Used for measured
rotation
o Can be held at a
particular position of
the shaft
o Ideal for many
autonomous robots
requiring higher
precision
• Servo Motors :
o Used in closed loop control
systems in which work is the
control variable.
o An integral feedback device
(resolver) or devices
(encoder and tachometer)
are either incorporated within
the servo motor or are
remotely mounted, often on
the load itself
MANIPULATION
• Robots which must work in the real world
require some way to manipulate objects; pick
up, modify, destroy, or otherwise have an
effect.
• Thus the 'hands' of a robot are often referred to
as end effectors, while the arm is referred to as
a manipulator.
• Some manipulators are:
o Mechanical Grippers
o Vacuum Grippers
o General purpose effectors
LOCOMOTION

It is concerned with the motion of the

robot.
 Differential Drive
 KHAFRAA 2
ARM WHICH
ROTATES IN
SOLIDWORKS VERTICAL
MODEL PLANE

ARM WHICH
ROTATES IN
HORIZONTAL
PLANE

BATTERIES

MOTOR
FREE WHEEL
DRIVEN
WHEELS
 MOTOR DRIVEN
ROTATABLE ARM
MOTOR
DRIVEN
WHEELS FOR
FORWARD
MOTION

MOTOR
DRIVEN
WHEEL FOR
TURNING
KHAFRAA 2 WITH PYRAMID
KHAFRAA 2 – FABRICATED MODEL
FABRICATION

The fabrication of the parts of the robot involves:

 Welding: The frame of the robot is formed by welding
aluminum pipes.
 Machining: The shafts of the wheels are made by turning.
 Carpentry: All the woodwork in the robot constitutes
carpentry.
 MEL 120 workshop !!!!!!
SOLIDWORKS
SCREEN SHOT
Solidworks