Mechanical Designs of robots
Robot C- to play volleyball
Robot to play hockey
Philosophy How to Design a Robot
Grabbing Items Using some intelligence
1.Mechanical Designs of robots
2. Robot that delivers stuff to locations 1. We will compare robots A, B, C, D, E, F 2. Robot can be prototyped with Lego NXT 3. Then we can add components from Tetrix 4. It is often faster, cheaper and better to design the robot from wood, plastic and metal by yourself and only use gears and motors with encoders from Tetrix. 5. We use this approach in our theatre. 6. Needs: 1. Doll grabbing (lifting) 2. Linear motion How to design 3. Base control mechanically robots that can grab some items and deliver to
3. Robot A 1. Deliver dolls to locations 1. Grabs an item 2. Releases the item 2. Can be used to deliver little robot actors to locations in robot theatre 3. Uses line following
4.Robot takes some object (a doll) in place X and delivers it to the location in place Y
8. Robot D • The same as before, robot delivers dolls to locations
15. Robot B • Robot delivers dolls to locations, as before
18.Robot C- to play volleyball 1. Robot plays volleyball
21.Robot to play hockey
22.Robot to play hockey
23.Robot to play hockey
25.Robot to play hockey
26.Robot to play hockey
27.Philosophy How to Design a Robot
29. General Design Considerations • Effectiveness – Does the robot do what you want it to? – Speed & accuracy • Reliability – How often will it work? • Ease of Implementation – Balance complex, effective solutions with simple to build solutions – Faster implementation means that you have more time allowed for debugging, • and probably, it means less debugging
30. Effectiveness Mechanical • Electrical 1. – Bearing surfaces 1. Multiple stages 2. – Stiffness 2. Efficient use of 3. – Appropriate constraints on degrees of Freedom inputs/outputs 4. – Gearing 3. Low power usage 5. – Speed 6. – Low mass / moment of inertia 4. Effective Motor use 5. Sensor placement /use
31. Reliability Mechanical • Electrical 1. – Stiffness 1. Circuit 2. – modularity Appropriate 2. Grounding constraints 3. Shielding on degrees 3. of freedom 4. – Simplicity
32. Ease of Implementation • Electrical Mechanica 1. Multiple stages l 2. Board layout – 1. Off-the- related ccts on 1 shelf board parts 3. Circuit modularity 2. 4. Accessibility Simplicity 3. Design for loose
33.Grabbing Items Using some intelligence
34. Tower of Hanoi Problem 1. Write the software for Tower of Hanoi Problem for a robot, with few pegs only. 2. Write the recursive software.
35. Robot Theatre
36. Projects from Lego Robots A piano-playing robot The piano-playing robot positions itself correctly in front of the piano (using a camera following a color target) and then plays with its two-fingered hand.
37. Projects from Lego Robots 1. Smiley face also has a small camera that tracks colors so it can follow the orange target. 2. The mouth and eyebrows move using servo motors. 1. Smiley face robot chases the moving orange target. 2. The eyebrows and mouth move to show happy and sad.
38. Robots for Autism Therapy Teleoperated bear developed at MU University of Hertfordshire UK Yale University University of Sherbrooke
39. Sensors for TigerPlace to Help Older Adults Age Safely
41. Detection of Falls See also http://eldertech.missouri.edu
42. hands head Personal computer Bluetooth PC connection GPU supercomputer The robot theatre concept
45. BIBLIOGRAPHY • Programming and Customizing the PIC microcontroller by Myke Predko • PICmicro Mid-Range MCU Family Reference Manual by MICROCHIP • PIC Robotics, A beginner’s guide to robotics projects using the PICmicro by John Iovine
46. …BIBLIOGRAPHY Websites referred… • The Seattle Robotics Society Encoder library of robotics articles • Dallas Personal Robotics Group. Most of these tutorials and articles were referred. • Go Robotics.NET, this page has many useful links to robotics articles.
47. …BIBLIOGRAPHY • Carnegie Mellon Robotics Club. This is the links page with lots of useful resources • This page is called the “Micro-mouse Handbook” and an excellent tutorial for small scale robotics. • This is the main website of microchip. Thousands of application notes, tutorials & manuals can be found here.