ROBOTICS & MECHATRONICS. Dr. Sabri Tosunoglu. Department of Mechanical
Engineering. Florida International University. Miami, Florida ...
ROBOTICS & MECHATRONICS
Dr. Sabri Tosunoglu Department of Mechanical Engineering Florida International University Miami, Florida
Overview
Introduction to robotics Industrial robots Robot control Mobile platforms Remote control of robots Humanoid robots Emerging application areas Impact on humans and society
Robotics
In general, the term “robotics” refers to computer control of mechanical systems. Mechatronics, a term coined by the Japanese, implies the same concept by explicitly joining the terms “mechanical” and “electronics.” MECHATRONICS = MECHANICAL + ELECTRONICS
Robotics Development Stages Initial
concepts dates to Da Vinci era Industrial robots in assembly and manufacturing Robotic platforms Development of humanoid robots Diversification of applications Expansion of the area defined as robotics
Industrial Robots Painting (cars emerged as a big market) Welding, punching, drilling, milling, honing, cutting Assembly operations (especially in computers and electronics; however, often seen in consumer products and appliance assembly as well) Feeder (parts, new material, and presenter to help other machines) Quality control
Industrial Robots An
industrial robot is designed as a serial arm similar to human arm but in different scales: From a few inches long (finger), to 60-feetlong arms (manipulators) were designed. Parts of the arm can rotate or slide depending on the design. Each moving part (called link) is powered by a separate motor.
Linear Movement of Links
Seiko robot uses linear movements between its links (as opposed to rotational)
Rotational Movement of Links
ABB robot uses rotational movements between its links (as opposed to translational)
Industrial Robots
A popular industrial SCARA robot used in industry to assemble computer boards
Industrial Robots
Teach pendant
Controller (special purpose computer) Robot
Industrial Robot Control Each
link’s motion is measured by a sensor to track its movement and correct if necessary. Each link is controlled by the motor connected to it. Input to the motor is generated by the computer after reviewing the sensory data on link movement. Control software orchestrates the flow of information so as to generate the desired robot movement.
Control of Robots
Sensors record physical information on joints, links, environment, and send to the computer
Computer receives information from (1) the sensors, and (2) instructions from the user on robotic task, generates and sends control commands to motors to achieve the goal
Robots in Space
Mobile Platforms
Unmanned Arial Vehicles Unmanned Ground Vehicle Unmanned Surface Vehicles Unmanned Underwater Vehicles
Casper: Unmanned Vehicle
56 x 50 x 30 cm 16 kg 51 kg payload Remote controlled Video capable Sandia National Labs
Casper: Unmanned Vehicle Availability: Price: System Description: Length/Width/Height (cm): Weight (Kg): Operating Environment: Size Category: Primary Control Mode: ComLink Type: ComLink Range (m): Video Capable: Primary Video: Video Link Range (m): Body Material: Max Speed (Km/h): Max Run Time (h): Max Payload Weight (Kg): Max Payload Size (cu ft): Power Source:
Prototype $10,000.00 56.408 / 49.998 / 30.768 15.75 Interior/Exterior Small Remote Control Teleoperated 900 MHz, 500mW DSS, 9600 baud 1525 Yes Unspecified video camera 5000 Graphite-epoxy 3.29 5.5 51.28 0.5 Lead-Acid, 24 V, 7 Ah
Mobile Platforms
Unmanned Aerial Vehicles
Sojourner Prototype on Earth
Sojourner Prototype
Sojourner @ Mars
Sojourner @ Mars
Mars Exploration Rover Egres
Rockey IV JPL
Remote Control: Virtual Reality
Remote Control
Remote Control: Virtual Reality
Integrate as many senses as possible to create a feeling of presence at the remote site Position feedback (mouse function on a PC) Force feedback Visual feedback 3D vision Sound
Force-Reflecting Manual Controller
University of Texas at Austin
Humanoid Robots
Asimo by Honda Aibo the Dog by Sony QRIO by Sony
QRIO by Sony
QRIO by Sony
New Application Areas
Medical applications – assisting medical doctors and operators in remote operations as well as in the operating room Assistive robots to aid handicapped and old people Robots to mow the lawn, clean the house, and do house chores are emerging Guard robots for security Pet robots with AI capabilities Increasingly wider use for military purposes
New Application Areas
Segway uses the elements of robotics technology Hence, it represents an example to the expanding application areas of robotics
Medical Applications
Impact on Society
Are the robots taking over jobs humans need? By looking at the numbers, and a recent UN report, it seems to be so. However, perhaps a smaller number of jobs are replaced by high-end jobs who build, maintain and run the robots. The UN report suggests that robots will continue to grow its share in the workforce regardless of the effects.
Conclusions
Introduction to robotics Industrial robots Robot control Mobile platforms Remote control of robots Humanoid robots Emerging application areas Impact on humans and society
www.eng.fiu.edu/mme/robotics/egn1033
