robot design tutorial

8/10/2019 Robot Design Tutorial

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M E C H A T R O N I C S S Y S T E M D E S I G N

L A B 2

W a q a s E h s a n

M . U s m a n R a f i q u e

Robot Design Tutorial


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Organization

Drive Types

Material Selection

Mechanical Design and Analysis

Motor Selection


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DRIVE TYPES

Differential Drive

Ackerman Drive

Omni Wheel Drive


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DIFFERENTIAL DRIVE


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DIFFERENTIAL DRIVE

Left and right wheels are driven independently

Speed and directioncontrolled by varying

left and right wheel

speed


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DIFFERENTIAL DRIVE


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Example Analyze effect of b on

robot control

DIFFERENTIAL DRIVE


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ACKERMAN DRIVE


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ACKERMAN DRIVE

Car-like drive system

Rear wheels are fixed

Front wheels can steer to change the direction of thevehicle


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ACKERMAN DRIVE

Linear Speed

Angular Speed

Steering Angle


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Example Analyze Effect of Wheel base L

Linear Speed

Angular Speed

Steering Angle


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OMNI WHEEL DRIVE


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Omni wheels or omni-directional wheels mean thewheels that can move in any direction

General wheels can only move in one direction. No movement perpendicular to the direction of wheel

Different combinations are used Three Wheeled Drive System

Four Wheeled Drive System

OMNI WHEEL DRIVE


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OMNI WHEEL DRIVE

Three Wheeled Drive System


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OMNI WHEEL DRIVE


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Example Effect of laon Robot Motion


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OMNI WHEEL DRIVE

Four Wheeled Drive System


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OMNI WHEEL DRIVE


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OMNI WHEEL DRIVE

Example

Analyze effect of laand lbon robot motion


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MATERIAL SELECTION

How to select material?

What are the important parameters?


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MATERIAL SELECTION

What are the important parameters?

Strength

Weight / Density Cost

Availability etc etc

How to select a material?


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MATERIAL SELECTION CHARTS


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Example Select Cheap and Strong Material


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Example Select Expensive and Strong Material


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MATERIAL SELECTION CHARTS


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Example Select Light and Strong Material


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Material Selection Charts

Many other material selection charts are commonlyavailable on internet


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Dont Overdesign

Analysis

Max Deflection

Max StressAny other relevant analysis


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Softwares for Analysis

AnsysFor detailed analysis

Pro-ESolidWorks

Any other software package


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Motor Selection

How to select a motor?


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Motor Selection

Basic Selection Criteria

1. Torque Requirement

2. Speed requirement

3. Torque vs. Speed Graph4. Gear Reduction


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Motor Selection


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Torque Requirement

Torque = Force x Distance

F=N

is coefficient of static friction

N=mgN is the mass of the robot

F=mg

Distance = RR is the radius of the wheel


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Example

Torque = Force x Distance

F=N

is coefficient of static friction

N=mgN is the mass of the robot

F=mg

Distance = RR is the radius of the wheel


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Torque Requirement


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Speed Requirement


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Speed Requirement


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Example


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Torque Speed Graph


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Torque Speed Graph


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Gear Reduction

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