Robot-Fdp.ppt

MIDDLE EAST TECHNICAL UNIVERSITYMechanical Engineering Department ROBOTICS Robotics History Industrial Robots Power Sources for Robots An important element of a robot is the drive system. The drive system supplies the power, which enable the robot to move. The dynamic performance of a robot mainly depends on the type of power source. There are basically three types of power sources for robots: 1. Hydraulic drive Provide fast movements Preferred for moving heavy parts Preferred to be used in explosive environments Occupy large space area There is a danger of oil leak to the shop floor 2. Electric drive Slower movement compare to the hydraulic robots Good for small and medium size robots Better positioning accuracy and repeatability stepper motor drive: open loop control DC motor drive: closed loop control Cleaner environment The most used type of drive in industry 3. Pneumatic drive Preferred for smaller robots Less expensive than electric or hydraulic robots Suitable for relatively less degrees of freedom design Suitable for simple pick and place application Relatively cheaper Robotic Sensors Sensors provide feedback to the control systems and give the robots more flexibility. Sensors such as visual sensors are useful in the building of more accurate and intelligent robots. The sensors can be classified as follows: Position sensors: Position sensors are used to monitor the position of joints. Information about the position is fed back to the control systems that are used to determine the accuracy of positioning. 2. Range sensors: Range sensors measure distances from a reference point to other points of importance. Range sensing is accomplished by means of television cameras or sonar transmitters and receivers. 3. Velocity Sensors: They are used to estimate the speed with which a manipulator is moved. The velocity is an important part of the dynamic performance of the manipulator. The DC tachometer is one of the most commonly used devices for feedbac