2nd session robista (mech.)
TRANSCRIPT
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Robotics
Analysis Revision &
Robotics Manipulation
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Terminologies
• Link.• Chain.• Mechanism.• Machine.• Robot.
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1 .Geneva Mechanism
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2 .Ratchet & pawl mechanisms
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3 .Linear Intermittent Geneva mechanism
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Four bar mechanism•Grashof condition
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Crank Rocker 4 bar mechanism
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Double rocker mechanism
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Barker classification
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Crank Slider Mechanism
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Crank Slider Mechanism
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagrams
Hydraulic Cylinder
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Kinematic diagrams
Pneumatic Cylinder
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagrams
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Kinematic diagram
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Kinematic Diagrams
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Kinematic Diagrams
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Joints classification
• According to geometry:
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Joints classification
• According to pairs order:2D: J1 & J2.3D: J1, J2, J3, J4 & J5.
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Degrees of freedom meaning
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Degrees of freedom calculationFor 2D mechanism:
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Example
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Degrees of freedom calculationFor 3D mechanism:
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Degrees of freedom calculation
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Minions Video Teamwork
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Teamwork
What ???
Why ???
How ???
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Teamwork
Individuals with different skills and interests work together to achieve their common goals .
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Why Teamwork ??
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Effective Teams
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What are Characteristics of Effective Teams ?
Members have a clear goal
Members are competent
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There is a plan for achieving the goal
The focus is on achieving results
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Members have clear roles
They achieve decisions through consensus
More Characteristics
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Diversity among team members
They know each other and have good relationships
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What are the Four Stages of Team Development?
Forming Storming Norming Performing
Every effective team goes through these life cycle stages
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Forming
Team members are introduced and begin getting to know each other
Goals and tasks are established
Generally polite behavior among members
Norms are not understood
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Storming
Members are sizing each other up and voice their views
May argue about goals or how they should be accomplished
May choose sides against other members
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Norming
Once issues are resolved, agreement occurs around team norms and expectations
Trust and common interests are developing
Roles and objectives are clarified and understood
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Performing
Members make contributions and are motivated by results
Leadership is shared according to members’ knowledge and skills
Norms and culture are well understood
Tasks get accomplished effectively and efficiently
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Effective & Efficiency
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Fluid control System
Pneumatic System.
Hydraulic System.
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Applications
Pneuscrew pneumatic fasteners video
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Pneumatic control system
Actuators Power source Control units
Main parts:-
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CylindersDouble Acting Cylinder
Pneumatic cylinder video
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Cylinders Single Acting Cylinder
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Single acting cylinder with spring
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Double acting , double ended
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Pneumatic control system
Actuators Cylinders
Power source Control units
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m
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Air compressors
Video
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Air reservoir
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Pneumatic control system
Actuators Cylinders
Power sourcecompressor reservoir
Control units
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Pneumctic ontrol system
Actuators • Cylinders
Power source• Reservoir
Control units• Flow control valves
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Pneumatic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)
eg.
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Flow control valves
Video
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Pneumatic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves
(kinetic analysis)
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Regulator
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Gauge (manometer)
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Hydraulic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves (kinetic analysis)• Non return valve
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Non return valve
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Hydraulic control system
Actuators Power source Control units• Flow control valves (kinematic analysis)• Pressure control valves
(kinetic analysis)• Non return valves • Directional control valves
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Directional control valves
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• One position (fun.)
• Two position
Number of positions (Y)
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Flow direction line
Shut off position
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Number of ports (X)
The valves called: (x/y) valve
5 ports
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4/2 valve
2/2 valve
4/3 valve
5/3 valve
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Video
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Push button control valve
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Lever control valve
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Solenoid control valve
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Pneumatic control systemPower source
Control units Actuators
• Motor • Flow control • Cylinders
• Compressor • Pressure control
• Motors
• Reservoir • Non return
• directional
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Hydraulic control systemPower source Control units Actuators
• Motor • Flow control • Cylinders
• Pump • Pressure control
• Motors
• Oil tank • Non return
• directional
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Symbols
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What’s Pneumatic????
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Pneumatic circuits
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Power
P= T*w
P= V*I
P= P*Q’
P= F*v
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We are going to move it.
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Start Zone
End Point
Lv =1 mLH =2 m Time= 2 min.
Dimension of robot= 40*40
Note: you can change motor speed by changing voltage i.e. 24 V 110 rpm12 V 55 rpm
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Results
Around itself.
Around Wheel.
On a Curve.
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Omni Wheel
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Omni Wheel
Video Omni Wheel