Transcript Introductory Lecture Y15

• This is an introductory session, hence only basics will be covered.
• You are advised to pen down any doubts and topics of interest for
clarification later.
• All topics will be covered at length in the coming days, today we will
focus on ‘Brief introduction to robotics, club activities’ and ‘Some
basic Stuff’
Introduction to Robotics
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WHAT IS A ROBOT ????
A robot is a mechanical or virtual artificial agent, usually an electro-mechanical
machine that is guided by a computer program or electronic circuitry.
OR
In simple terms,
A robot can be defined as a computer controlled machine with some degrees of
freedom
We are survival machines -- robot vehicles blindly programmed to preserve the selfish
molecules known as genes.
RICHARD DAWKINS, The Selfish Gene
Some famous robots being developed around the world
KUKA
Nao
Spot (Google's Robot
Dog)
Asimo
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NASA'S CURIOSITY
What do we do at Robotics Club?
Participate in Competitions.
Takneek, Techkriti,
Techfest, RoboSub etc.
DORA and summer
Projects.
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SOME PROJECTS DONE UNDER OUR CLUB
Confused??
• Interested in pursuing your hobby in robotics, but do
not have any experience
• Don't worry, we will help you think in the right
direction, only sincerity and enthusiasm is required.
Myths !!
I am interested but:
• I have very less technical knowledge about
robotics.
• I can't be a part of the team because I am from
xyz dept.
• Robotics is just about mechanical.
Don’t Worry:
• We will teach you from scratch to create robots.
• Regular Lectures, workshops and
competitions will be
held to achieve the same.
Things you will learn THROUGHOUT
the year !!
(At Robotics Club)
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Mechanical Designs and their analysis, motion dynamics, inverse
kinematics, simulation.
Designing softwares like Autodesk Inventor, Autodesk Fusion.
Learn about pneumatics, hydraulics and actuators.
Programming :
• Learn about microcontrollers, Arduino, R-pi, BeagleBone,
Odroid.
• PID, Image Processing, Voice recognition, etc.
Learn to use various sensors eg: accelerometers, ultrasonic, infrared
sensors, etc.
……and the list continues
Conditions Apply* : Learning will depend on your enthusiasm and amount of participation
ROBOTICS
MECHANICAL
ELECTRONICS
PROGRAMMING
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MECHANICAL
Chassis
The Base frame of a Robot on which all
the other components are mounted.
Motors
Devices that convert electrical energy into mechanical
energy.
 Motors are either AC or DC.
Nearly all electric motors are based around magnetism. In
these motors, magnetic fields are formed in both the rotor
and the stator. The product between these two fields give
rise to a force, and thus a torque on the motor shaft.
 In simpler words, a sheet current and a magnetic field in
the coil causes the torque.
DC MOTORS
• Designed to work on DC power.
• Mainly of three types :
– Permanent Magnet Type
– Brushed DC Motors
– Brushless DC Motors
DC MOTORS
• Apply +12V (generally) and they
start rotating. Apply -12V and they
rotate in the opposite direction!
• Speed can be reduced by reducing
the voltage supplied.
• Torque and speed are interrelated.
P=τω
A 10rpm motor has relatively high
torque. Generally a 100rpm –
300rpm
Castor
• A castor is a type of wheel that is designed to be mounted to the
bottom of a vehicle for easy manoeuvrability.
• Used in shopping carts, office chairs, robots..
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Differential Drive
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Differential Drive
• The term 'differential' means that robot turning speed is
determined by the speed difference between wheels on
either side of robot.
• For example: keep the
right wheel still, and
rotate the left wheel
forward, and the robot
will turn right.
Gears
Gears are the most
common form of power
transmission for several
reasons. They can be
scaled to transmit power
from small battery
powered watch motors up
to the power from
thousand horsepower gas
turbine engines.
Use of gears
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Changing rotational speed.
Changing rotational direction.
Changing the angular orientation of rotational motion.
Multiplication or division of torque or magnitude of rotation.
Converting rotational to linear motion and its reverse.
Offsetting or changing the location of rotating motion.
Gear Name?
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Gear Name?
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Mechanism Name?
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Types of gears
 Spur
 Worm
 Geneva Wheel
 Rack & Pinion
 Bevel Gears
Electronics
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Switch
• The most basic electronic component is a
switch.
• There are various types of switch.
• A switch is defined by two parameters
• Pole
• Throw
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Types of Switch
Electronics specification
pole,
SPST Single
Single throw
Description
SPDT
Single pole,
Double throw
A simple on-off switch: The two
terminals are either connected together
or disconnected from each other
A simple changeover switch: C (COM,
Common) is connected to L1 or to L2.
DPST
Double pole,
Single throw
Equivalent to two SPST switches
controlled by a single mechanism
DPDT
Double pole,
Double throw
Equivalent to two SPDT switches
controlled by a single mechanism.
Symbol
Design a circuit
You need to design a circuit for controlling a DC motor using a switch.
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Tools and Components
Solder Iron
Solder Wire
Flux
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Power source
Battery
SMPS
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For more information on robotics
visit us:
http://students.iitk.ac.in/roboclub
You can also join us on our
Facebook page:
http://www.facebook.com/group
s/roboclub.iitk/
Any questions
Thank You
Please give us your feedback
Introduction to Robotics
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