ROBOTIC COMPONENTS, MOVEMENTS AND ARTICULATION DESIGN & APPLIED ENGINEERING II MR. RANDT

SENSE-PLAN-ACT ROBOT CHARACTERISTICS Sense-Plan-Act: The three characteristic capabilities that define a robot. The robot must be able to… “Sense” things about its environment, “Plan” an appropriate response to those factors, “Act” accordingly. /articles/top-10-robots-of-the-past-10- years-robots-of-the-decade-awards

ROBOT COMPONENTS PARTS OF A ROBOT Robots use arms, end effectors (grippers), drive mechanisms, sensors, controllers, gears and motors to perform the human- like functions necessary to perform their jobs or tasks.

ROBOTIC COMPONENTS SENSORS Sensors are devices used to detect some form of important physical quality or quantity about the surrounding environment. Then convey that information back to the robot in electronic form. The robot will then use this info for its to complete its task. A Sound Sensor, for example, will detect vibrations in the air, and send an electrical signal to the robot (NXT) indicating how strong those vibrations were.

ROBOTIC COMPONENTS ARMS Robot arms come in all shapes and sizes. The arm is the part of the robot that positions the end- effector and/or sensors to do their pre-programmed business. Many (but not all) resemble human arms, and have shoulders, elbows, wrists, even fingers. This gives the robot a lot of ways to position itself in its environment. Each joint is said to give the robot 1 degree of freedom.

ROBOTIC COMPONENTS END EFFECTORS The end-effector is the "hand" connected to the robot's arm. Often different from a human hand - it could be a tool such as a gripper, tweezers, scalpel, blowtorch -just about anything. Some robots can change end- effectors, and be programmed for a different set of tasks. If the robot has more than one arm, there can be more than one end-effector on the same robot, each suited for a specific task.

ROBOTIC COMPONENTS DEGREES OF FREEDOM A simple robot arm with 3 degrees of freedom could move in 3 ways: up and down, left and right, forward and backward. Most working robots today have 6 degrees of freedom. Humans have many more and some robots have 8, 12, or even 20 degrees of freedom, but these 6 are enough for most basic tasks. As a result, most jointed-arm robots in use today have 6 degrees of freedom

Robot Designed for use in Precise Path-Oriented Tasks

THE FIVE MAJOR ROBOTIC SYSTEMS & THEIR RELATIONSHIPS

TYPES OF MOTION PROVIDED BY ACTUATORS

THREE BASIC DEGREES OF FREEDOM Cartesian Cordiant System X, Y, & Z Axis

DEGREES OF FREEDOM IN THE HUMAN HAND

PITCH, YAW & ROLL

A ROBOTIC ARM’S SIX DEGREES OF FREEDOM

TRACK-MOUNTED ROBOT WITH SEVEN DOF Can you name what and/or where they are located?

NON-SERVO SYSTEM

SERVO SYSTEM

HYDRAULIC ACTUATOR DRIVE MOVEMENTS Some of this robots movements are controlled by Hydraulically Actuated Cylinders.

ELECTRIC MOTOR ARTICULATED DRIVE MOVEMENTS Some of this robots movements are controlled by Electric Motors.

DIRECT DRIVE MOTOR

REVOLUTE CONFIGURATION- VERTICALLY ARTICULATED

SCARA CONFIGURATION

CARTESIAN CONFIGURATION

SPHERICAL CONFIGURATION