STS midterm

• Advanced Mechatronics and Robotic (AMEROB)


  Application of the automation to industries and other activities to minimize human intervention and provide consistency
• Automation


  Using various control systems for operating equipment in different processes, such as boilers and heat-treating ovens, machinery, telephone networks, factory processes, aircraft control, steering and stabilization of ships, and other applications, with minimal human intervention
• Components of Automation

  • Mechatronics
  • Robotics
• Mechatronics


  Multidisciplinary field of science that combines mechanical, electrical, electronics, computer, and control engineering
• Elements of Mechatronics

  • Electro-mechanical- sensors and actuators
  • Electrical and Electronics- to interface electro-mechanical sensors and actuators with control interface hardware elements
  • Control interface/computing hardware elements- it allows communication between sensor signals and the control computer and between control signals from the control computer to the actuator
  • Actuator- a motor for moving or controlling a mechanism or system
• Actuators

  • Solenoid
  • Stepper Motor
  • AC Motor
  • Hydraulic Cylinder
• Solenoid


  Converts energy into linear motion using a magnetic coil and movable armature
• Stepper Motor


  A special DC motor with precise step-wise motion
• AC Motor


  A rotating electromagnetic field and is suitable for high-power applications
• Hydraulic Cylinder


  A reservoir and pump, pressure differences controlled by hydraulic valves, and linear motion of the hydraulic cylinder
• Proximity Sensor


  Detects changes in capacity around the sensor's vicinity, suitable for metallic and non-metallic objects
• Flow Sensor


  Measures flow rate using paddle wheels or impellers
• Robotics


  • An interdisciplinary branch of engineering and science encompassing mechanical, electrical, electronics, and computer engineering
• Robot


  Worker or servant
• Types of Industrial Robots

  • Articulated
  • Cartesian
  • Cylindrical
  • Polar
  • SCARA
  • Delta
• Articulated Robot


  Rotary joints ranging from simple two-joint structures to more complex designs
• Cartesian Robot


  Cartesian manipulator arm geometry
• Cylindrical Robot


  Has cylindrical configurations and work envelopes
• Polar Robot


  Telescoping arms and a horizontal pivot
• SCARA Robot

  Selective Compliance Assembly Robot Arm
• Delta Robot


  A triangular parallel linkage system
• Major Components of a Robot

  • Manipulator
  • End Effector
  • Controller
  • Sensors
• Manipulator


  Functions like a human arm with joints and links
• End Effector


  Performs tasks similar to the human arm's palm and finger arrangements
• Controller


  The brain of the robot
• Sensors


  Measure position, velocity, force, torque, proximity, temperature, and more
• Joseph Jacquard (1801)


  Invented a textile machine operated by punch cards
• Seward Babbitt (1892)


  Designed a motorized crane with a gripper in the US
• Karel Čapek (1921)


  Introduced the word "robot" in his play Rossum's Universal Robots
• Isaac Asimov (1939)


  Introduced robots for humanity and the "Three Laws of Robotics" in his science fiction
• George David (1946)


  Patented a general-purpose playback device for controlling machines
• Norbert Wiener (1948)


  Published Cybernetics, describing communication and control systems
• Raymond Goertz (1951)


  Designed a teleoperator-equipped articulated arm for the Atomic Energy Commission
• George Devol (1954)


  Designed the first programmable robot and coined the term "universal automation"
• George Devol and Joseph Engelberger (1956)


  Formed Unimation, the first successful robot manufacturing company
• Robot


  Reprogrammable, multifunctional manipulator designed to perform a variety of tasks through programmed motions
• Components of a robot

  • Communicator- sends and receives information to/from a remote operator
  • Control Computer/Controller (Brain)- managed multiple microprocessors; acts as the robot's brain
  • End Effectors (Hands)- tools at the manipulator arm's end for tasks
  • Manipulator (Arm)- moves the tool or part using arm segments
  • Power Supply- provides energy from batteries or the power grid
  • Sensor (Eye)- converts physical phenomena to electronic signals
  • Actuator- drives motion using electric, pneumatic, or hydraulic power
• Robot's Drive Systems/Actuators

  • Pneumatic Drive- reserved for smaller robots; limited to simple, fast cycles and pick-and-place operations
  • Hydraulic Drive- used in larger robots; heavy, with large floor space and heavy floor loadings. Offers great force capability and accurate positioning
  • Electric Drive- suitable for light-duty, precision applications; clean and cost-effective but with less force capability than hydraulic systems
• Degrees of Freedom


  The different axes of motion of a robotic arm, which allows for independent movements
• Wrist rotation

  • Pitch Axis- rotational movement up and down
  • Yaw Axis- angular movement from left to right
  • Roll Axis- rotation around the end of the wrist