FJJFJFJFJFJ. Howard Carter, George T. Baker Aviation Technical College, Miami-Dade County Public Schools
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1 FJJFJFJFJFJ Howard Carter, George T. Baker Aviation Technical College, Miami-Dade County Public Schools
2
3 Types of Robotics
4
5 Type II Robot Legged Robot Wheeled Robot
6
7 Robotics Tasks
8 Jobs that are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant
9 Repetitive jobs that are boring, stressful, or labor-intensive for humans
10 The SCRUBMATE Robot
11 Knowledge for Robotics
12 Disciplines: mathematics, physics, biology, mechanical engineering, electrical engineering, computer engineering, and computer science
13 Key Components
14 Power conversion unit Sensors Actuators User interface Controller Manipulator linkage Base
15 Gear, rack, pinion, etc. Cam and Follower Inclined plane wedge Chain and sprocket Slider-Crank Lever Linkage
16 Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Accelerometer Using Piezoelectric Effect Flexiforce Sensor
17 Vision Sensor: e.g., to pick bins, perform inspection, etc. Part-Picking: Robot can handle work pieces that are randomly piled by using 3-D vision sensor. In-Sight Vision Sensors
18 Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery Force Sensors Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. It can automate high-skill jobs.
19 Example KOALA ROBOT 6 ultrasonic sonar transducers to explore wide, open areas Obstacle detection over a wide range from 15cm to 3m 16 built-in infrared proximity sensors (range 5-20cm) Infrared sensors act as a virtual bumper and allow for negotiating tight spaces
20 Example Planar Bipedal Robot Tilt sensors: e.g., to balance a robot
21
22 Gear, rack, pinion, etc. Hydraulic Motor Stepper Motor Servo Motor Pneumatic Motor Pneumatic Cylinder DC Motor
23 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
24 Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors
25 RoboBoard Robotic Controller RoboBoard Robotic Controller
26 Interface units: Hardware to interface digital controller with the external world (sensors and actuators) Operational Amplifiers Analog to Digital Converter LM358 LM358 LM1458 dual operational amplifier
27 Applications
28
29 Material Handling Manipulator Industrial Robots Assembly Manipulator Spot Welding Manipulator
30 NASA Space Station
31 TROV in Antarctica operating under water HAZBOT operating in atmospheres containing combustible gases
32 Robotic assistant for micro surgery
33 Future
34 Artificial Intelligence Cog Kismet
35 Autonomy Robot Work Crews Garbage Collection Cart
36 Humanoids
37 GTBTC
38 Helping Hands Parallax Roaming Boe Bot Flight Sim 1& 2 Vex Robotics Areo-Robotics
39 Platform: Basic Stamp Language: Basic Programmer: Basic Stamp Editor Actuator: DC Motors Documents:
40 Platform: Basic Stamp Language: Basic Programmer: Basic Stamp Editor Actuator: DC Motors Documents:
41 Platform: Arduino Mega Language: Sketch (C, C++) Programmer: Arduino Software (IDE) Actuator: DC Servo Documents: Simulation Software: MS Flight Sim X Motion Software: Link2fs_inout
42 Platform: Picaxe Language: Basic Programmer: Picaxe Programming Editor Actuator: Linear / Resistive Documents: Simulation Software: MS Flight Sim X Motion Software: BFF 6 DOF Motion Driver V3.0
43 Platform: Vex Microcontroller Language: C, C++ Programmer: Robot C Actuator: DC Motor / Servo Documents:
44 Platform: Ardupilot (Crossfire Quad) Language: Sketch (C, C++) Programmer: Arduino Software (IDE) Actuator: DC Motor Documents:
45 The End George T. Baker Aviation Technical College, Miami-Dade County Public Schools 3275 NW 42 nd Avenue Miami, Florida
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