Chapter 2

Components of
Robots
 TOPICS

What is a robot?
History of robots
World robots
Industrial robot and its components
IR applications
3D simulation of IR

Robot types
What is next in IR?
Robot as a system
 Functional Units of a Robot

Video inside of a robot

https://www.youtube.com/watch?v=mADNlV1yCSo
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
 Functional Units of a Robot
Mechanical Units
Actuation System
 Actuation System

• Motion transmistion gears

 Actuation System
• Motion transmistion gears
 Actuation System
• Motion transmistion gears
 Actuation System
• Harmonic drives Harmonic drives AG
 Actuation System
• Optimal choice of reduction ratio
 Actuation System
• Transimisions in IR
 Actuation System
• Inside views of 4,5,6 joints

https://www.youtube.com/ https://www.youtube.com/ https://www.youtube.com/

watch?v=iRKDfknqtbc watch?v=EfmjhfN8D-Q watch?v=iblqrfu5wdw
 Actuation System
• Robot servomotors (characteristics)
 Actuation System
• Robot servomotors (characteristics)
 Actuation System
• Robot servomotors
 Actuation System
• Robot servomotors
Electric motors
Actuation System
Electric motors
 Actuation System
• Robot servomotors
DC motors - Principle
 Actuation System

Brush vs Brushless DC motor

 Actuation System
• Robot servomotors

Advantages
of brushless
motors

=> But high cost!

Actuation System
DC motors - Characteristics
 Actuation System
• Robot servomotors
DC motors- modeling
 Actuation System
• Robot servomotors
DC motors-data sheet
 Actuation System
• Robot servomotors
Stepper motor

More about Step motor

 Actuation System
• Robot servomotors
Hybrid stepper motor

More about Step motor

 Actuation System
• Robot servomotors
 Actuation System
• Robot servomotors
AC motors-data sheet
 Actuation System
• Robot servomotors

More about AC motor

 Actuation System
• Exploded view of a joint (in the DLR-III robot)