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Basic robotics workshop

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Pratik Dhaboo
Pratik Dhaboo

A basic robotics workshop conducted for juniors at BIT Mesra in 2007. The presentation gives an overview of hobby robotics and necessary know how to get started building a robot.

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BASIC ROBOTICS WORKSHOP PART I. An Introduction to Robotics Pratik Dhaboo Email: pratik@awishcar.com; F,T: @pratik2222 Founder, Awishcar.com
Contents ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
BASIC ROBOTICS
Basic Mechatronics Structure
Basic Robotics : What is a Robot ? "A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks"
Basic Robotics : Laws of Robotics ,[object Object],[object Object],[object Object],[object Object]
Basic Robotics : Terminology android n "droid([a^]n"droid), A machine or automaton in the form of a human being. Possessing human features. n. An automaton that is created from biological materials and resembles a human being. Also called humanoid. ,[object Object],[object Object],[object Object]
Basic Robotics : Terminology Articulated - Jointed arm. End Effector - Device at the end of a robot arm that is used to grasp or engage objects. Degrees of freedom - In mechanics, degrees of freedom (DOF) are the set of independent displacements that specify completely the displaced or deformed position of the body or system. Robot - Mechanical device that performs human tasks, either automatically or by remote control. (From the Czech word robota.) BEAM Robotics -The word "beam" in BEAM robotics is an acronym for B iology, E lectronics, A esthetics, and M echanics. This is a term that refers to a style of robotics that primarily uses simple analog circuits, such as comparators, instead of a microprocessor for simplicity in design Telerobotics - Robot that is operated remotely.
BASIC ELECTRONICS
Basic Electronics : Resistors ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Resistor Rheostat/ Potentiometer Voltmeter Ammeter
Basic Electronics : Color Bands
Basic Electronics : Potentiometers (POT)
Basic Electronics : Capacitors ,[object Object],[object Object],[object Object],[object Object],[object Object]
Basic Robotics : Capacitance Values Fixed, Polarized Variable, Single Fixed,NonPolarized General
Basic Electronics : Diode ,[object Object],[object Object]
Basic Electronics : Diodes ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Basic Electronics : Special Diodes ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Diode LED Photodiode Zener
Basic Electronics : Terminology ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Freewheeling Diodes Circuit without Freewheeling Diodes Circuit with Freewheeling Diodes At t 0 supply is suddenly reduced or removed
Basic Electronics : Transistors ,[object Object],[object Object],[object Object],[object Object],[object Object]
Basic Electronics : BJT Specs ,[object Object],[object Object],[object Object],[object Object]
Basic Electronics : BJT Applications ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Basic Electronics : BJT Thumb Rules ,[object Object],[object Object],[object Object]
Basic Electronics : MOSFET (Metal Oxide Semiconductor Field Effect Transistor) ,[object Object],[object Object],[object Object]
Basic Electronics : BJT & MOSFET ( Analogy & Difference ) BJT MOSFET Current Control Voltage Control Base Gate Collector Drain Emitter Source Ic= β x Ib Id = gm x Vb Low Input Impedance Very High Input Impedance Low Switching Loss High Switching Loss Lower speed device Higher speed device
Basic Electronics : Voltage Regulator ,[object Object],[object Object],[object Object]
Basic Electronics : 7805 ,[object Object],[object Object],[object Object],[object Object]
INPUT DEVICES
INPUT DEVICES ,[object Object],[object Object]
Input Devices : Sensor Classification ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Input Devices : Popular Sensors ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Input Devices : LDR ( Light Dependent Resistors ) ,[object Object],[object Object],[object Object]
Input Devices : Photodiode ,[object Object],[object Object],[object Object]
Input Devices : Phototransistor ,[object Object],[object Object]
Input Devices : Modulated IR Sensors ,[object Object],[object Object],[object Object],[object Object]
OUTPUT DEVICES
Output Devices ,[object Object],[object Object],[object Object]
Output Devices : Motor Classification ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Brushed DC Motor ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Brushless DC Motors ,[object Object],[object Object],[object Object],[object Object],[object Object]
Brushless DC Motors Cont…. ,[object Object]
Concepts of PWM & H-BRIDGE
STEPPER MOTORS
Stepper Motors Cont… ,[object Object],[object Object]
Liner Servo Motors
Power, Torque and Speed ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Wheeled Locomotion Systems ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
Differential Drive ,[object Object],[object Object],[object Object]
Differential Drive Cont… ,[object Object]
Differential Drive Cont… ,[object Object],[object Object],[object Object]
Differential Drive Analysis ,[object Object],[object Object],[object Object]
Car Type Drive ,[object Object],[object Object],[object Object]
Car Type Drive Cont…
Disadvantages Of Car Type Drive ,[object Object],[object Object],[object Object]
Holonomic Systems ,[object Object],[object Object]
Skid Steer Drive ,[object Object],[object Object],[object Object],[object Object]
Skid Steer Drive Cont…
Differences With Differential Drive ,[object Object],[object Object],[object Object]
Articulated Drive ,[object Object]
Articulated Drive Cont… ,[object Object],[object Object],[object Object]
Synchronous Drive ,[object Object],[object Object],[object Object]
Synchronous Drive Cont… ,[object Object]
Advantages of Synchronous Drive ,[object Object],[object Object]
Pivot Drive ,[object Object],[object Object]
Pivot Drive Cont… ,[object Object],[object Object],[object Object]
Complexity of Pivot Drive ,[object Object],[object Object],[object Object]
Dual Differential Drive ,[object Object],[object Object],[object Object]
Dual Differential Drive Cont…

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Basic robotics workshop

  • 1. BASIC ROBOTICS WORKSHOP PART I. An Introduction to Robotics Pratik Dhaboo Email: pratik@awishcar.com; F,T: @pratik2222 Founder, Awishcar.com
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  • 5. Basic Robotics : What is a Robot ? "A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks"
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  • 8. Basic Robotics : Terminology Articulated - Jointed arm. End Effector - Device at the end of a robot arm that is used to grasp or engage objects. Degrees of freedom - In mechanics, degrees of freedom (DOF) are the set of independent displacements that specify completely the displaced or deformed position of the body or system. Robot - Mechanical device that performs human tasks, either automatically or by remote control. (From the Czech word robota.) BEAM Robotics -The word "beam" in BEAM robotics is an acronym for B iology, E lectronics, A esthetics, and M echanics. This is a term that refers to a style of robotics that primarily uses simple analog circuits, such as comparators, instead of a microprocessor for simplicity in design Telerobotics - Robot that is operated remotely.
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  • 11. Basic Electronics : Color Bands
  • 12. Basic Electronics : Potentiometers (POT)
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  • 14. Basic Robotics : Capacitance Values Fixed, Polarized Variable, Single Fixed,NonPolarized General
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  • 19. Freewheeling Diodes Circuit without Freewheeling Diodes Circuit with Freewheeling Diodes At t 0 supply is suddenly reduced or removed
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  • 25. Basic Electronics : BJT & MOSFET ( Analogy & Difference ) BJT MOSFET Current Control Voltage Control Base Gate Collector Drain Emitter Source Ic= β x Ib Id = gm x Vb Low Input Impedance Very High Input Impedance Low Switching Loss High Switching Loss Lower speed device Higher speed device
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  • 42. Concepts of PWM & H-BRIDGE
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  • 53. Car Type Drive Cont…
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  • 57. Skid Steer Drive Cont…
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