CORC 3303: Exploring Robotics. Lecture Unit B M. Meyer
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1 CORC 3303: Exploring Robotics Lecture Unit B M. Meyer
2 Topics: Robot Construction 2. Effectors & Actuators 3. Active vs. Passive Actuation 4. Types of Actuators 5. Motors 1. Torque 2. Rotational and Linear Velocity 3. Power 6. Gears 1. Ganged (Compound) Gears 7. Servos 8. Degrees of Freedom (DOF) 9. DARPA Grand Challenge(s)
3 (0) Robot Construction Strong consideration must be made for material limitations when designing and constructing robots. Steel has good strength but high weight. Plastic has low weight but also low strength. Concrete has high weight, great compression strength but terrible shear strength. Aluminum has low weight, great compression and shear strength, but is vulnerable to repeated stress fracturing. Carbon fiber has low weight, great compression and shear strength, but is ungodly expensive.
4 (0.1) Effectors and Actuators Effectors: Any device on a robot that has an effect (impact or influence) on the environment. Actuator: A mechanism(s) that enables an effector to execute an action or movement (does the actual work). Humans: Robots: Arms, Legs, Torso Muscles, Joints, Bones Wheels, Legs, Manipulator Arms Motors, Servos, Hydraulics, Pneumatics
5 (1) Active vs. Passive Actuation Some very clever designs use potential energy (usually gravity) in the mechanics of the effector and its interaction with the environment, instead of active power consumption. Advantage: No need for extra weight required by energy source (battery, gasoline, etc) and complicated actuators. Disadvantage: Dependence on a motivating source that may be transient.
6 (1) Active vs. Passive Actuation
7 (1) Active vs. Passive Actuation
8 (2) Types of Actuators A number of different mechanisms can be used to drive effectors, each has advantages and disadvantages: Electric Motors (Cheap, Simple, Heavy, Limited Power) Hydraulics (Incredibly Powerful, Precise, Large, Very Heavy, Very Dangerous, Leak Issues). Pneumatics (Powerful, Large, Very Heavy, Potentially Dangerous, Leak Issues). Photo-reactive materials (Incredibly Tiny and Light, Very Little Power) Chemically reactive materials (Very Light, Good Power, Complex and Expensive) Thermally Reactive materials (Heavy, Very Little Power) Piezoelectric materials (Tiny and Light, Very Little Power, Expensive... but fascinating)
9 (2) Electo-reactive Materials
10 (3) Motors DC (Direct Current) motors are cheap, simple, inexpensive, easy to use and easy to find.
11 (3) Voltage, Current & Work DC motors are designed to provide a fixed amount of POWER for a given VOLTAGE. The DC motor draws a percentage of the available VOLTAGE as CURRENT (Amps). To little or too much VOLTAGE and the motor will not work properly. At the right VOLTAGE a motor can do work, by applying a FORCE to the SHAFT which can cause a change in DISTANCE. WORK = FORCE x DISTANCE
12 (3.1) Torque Torque can be considered as a special subtype of work: TORQUE = FORCE x DISTANCE But TORQUE is a measurement of ROTATIONAL FORCE and the DISTANCE is equivalent to the RADIUS of the rotational
13 (3.1) Torque Question 1: If a drive shaft is capable of outputting 100ft/lbs of Torque, what is the actual force being applied to the ground if the radius of the wheel attached to the drive shaft it 10ft? What if the radius of the wheel is 2ft? TORQUE = FORCE x DISTANCE. Newton's 1st Law: An object in motion tends to stay in motion, an object at rest tends to stay at rest, UNLESS acted on my an outside force. Question 2: Which wheel, the 10ft radius or the 2ft radius will provide faster initial acceleration.
14 (3.2) Rotational and Linear Velocity Rotational Velocity is specified in Rotations Per Minute. While Linear Velocity is usually specified in Feet Per Minute. If we assume that both of the circles above are wheels, that are touching the ground, and both are rotating at 120rpm, which wheel will travel further?
15 (3.2) Rotational and Linear Velocity To convert from Rotational Velocity (RV) to Linear Velocity (LV) first find the Circumference (C) of the circles: C = 2 π r ( where r is the radius) inches inches Then we multiply C by the RPM. Linear Velocity = C x RPM (120/min for both) 4524 in/min 2262 in/min
16 (3.3) Power What we are really interested in with a particular motor is the amount of WORK (W=FxD) that an engine can potentially do, it's POWER. If we want more TORQUE (for acceleration) we can reduce rotational speed, if we want more Rotational Velocity (Distance/Speed) we can reduce Torque. How? With gears.
17 (4) Gears Combining different size gears is one way to change the Torque (force output) and Rotational Velocity (speed, distance over time) of a motors output. If the input gear (left) is smaller than the output gear (right) RV is decreased and Torque is increased. If the input gear (left) is larger than the output gear (right) RV is increased and Torque is
18 (4.1) Ganged (Compound ) Gears Gears can be applied in series to multiply their effect. The 6 gears on the right are attached to 4 shafts and from left to right have a 2:1, 2:1, 2:1 reduction series totaling 8:1. Gears don't always mesh properly, any play in the gears causes excess wear and friction call backlash.
19 (5) Servo Motors Servo motors are special motors that can rotate to any fixed position. Shafts for Servo motors don't rotate completely and are usually limited to less that 180 degrees. The amount of degrees to turn is sent to the servo controller as a waveform.
20 (6) Degrees of Freedom There are 6 degrees of Freedom in a 3 Dimensional World. Translation Degrees: Indicate movement in the 3 possible directions X, Y, Z. Rotational Degrees: Indicate rotation around the three possible axis Pitch (X), Roll (Y) and Yaw (Z).
21 (6) Degrees of Freedom Not all DOF are available in all domains (car vs. plane). Even those DOF that are available may not be controllable (car can move in the X,Y plane, but only by rotating first.) Holonomic -> CDOF = TDOF Nonholonomic -> CDOF < TDOF Redundant -> CDOF > TDOF Principle ideas is that if we have redundant DOF we have more options when trying to reach a specific place in space. This is both helpful (more options) and harmful (those extra options make finding solutions more difficult).
22 In 2004 after years of fruitless research into the creation of a fully autonomous vehicle, DARPA hosted a competition, a "Grand Challenge", to create an autonomous vehicle that could navigate a 150 mile course through the Mojave Desert. The winner of the competition would receive 1 million dollars. In 2004, no vehicle got further than 8 miles. DARPA still (7) DARPA Grand Challenges The Defense Advanced Research Projects Agency (DARPA) is a research organization of the United States Department of Defense. DARPA's mission to sponsor revolutionary, high-payoff research that bridges the gap between fundamental discoveries and military use.
23 (7) DARPA Grand Challenges In 2005 DARPA held its "Second Grand Challenge" and raised the prize money to 2 million dollars. All but one of the 23 finalists in the 2005 race surpassed the 8 mile distance completed by the best vehicle in the 2004 race. Five vehicles successfully completed the race. In 2007 DARPA held its third grand challenge called the "Urban Challenge". The course involved a 60- mile urban area course, to be completed in less than 6 hours. Rules included obeying all traffic regulations while negotiating with other traffic and obstacles and merging into traffic. 6 teams successfully completed
24 Other DARPA challenges will almost certainly be made, and in the meantime individual Colleges and Universities are setting up their own competitions and challenges. In 2010 Stanford University raced an autonomous vehicle race to the top of Pikes Peak. The car took 27 minutes the best human racers would take 17 min - to make the 156 turns on (7) Further Challenges The DARPA grand challenges were INCREDIBLY successful at pushing forward the limits of technology. Collectively they moved the U.S. military much closer to the goal set by the U.S. congress of having one-third of ground military vehicles autonomous by 2015.
25 Assessment Assignment B1 Your challenge is to read all three of the case studies in your course-pak, for Unit B: PopSci's Darpa Grand Challenge Preview, by Elizabeth Svoboda. Popular Science, Oct No Drivers, but a Lot of Drive, by John Markoff. New York Times, Nov 11, Stanford's robotic Audi to brave Pikes Peak without a driver, by Christine Blackman. Stanford Report, Feb 3, And then answer the following questions related to the materiel. This assignment is due on the first day of Unit C.
26 Assessment Assignment B1 Answer each question of the following 7 questions in 3-4 complete sentences. Write clearly, and reference the articles. 1. The Blue Team chose to use a motorcycle rather than a 4 (or more) wheeled vehicle. What advantages and disadvantages are there to using a motorcycle. 2. Team DAD used a Toyota truck with a system of spinning lasers as it's "visual" system. What advantages and/or disadvantages does such a system have compared to camera-based systems. 3. The Virginia Tech team entered two vehicles. They are nearly identical mechanically but have widely different control strategies. One remembers every object it detects (Rocky) while the other reacts to what it sees but then forgets everything it saw when it scans the field again. (Cliff). You might say that Rokcy used a more deliberative strategy while Cliff used a more reactive one. What advantages and disadvantages would there be to each
27 Assessment Assignment B1 4. The Stanford team was the ultimate winner in the 2005 competition. What (based on the readings) do you think what its "winning advantage" over its competitors. 5. The Red Team (from Carnegie Melon) did the best in the 2004 challenge. How did they improve on "Sandstorm" their 2004 entry for the 2005 race. 6. In 2007, in the "Urban Challenge", Carnegie Mellons "Boss" beat out Standford Universities "Junior" to win the competition. If you had to do as Mr. Vaughn proposed and use one of the two entries as a Taxi, in NYC traffic, which would you choose... and why? 7. Standard GPS units are only considered accurate to within a few dozen feet (10 meters), which would not have been sufficient for "Shelleys" attempt at the Pikes Peak race. How did the Stanford team deal with the limitations of GPS?
28 The End
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