1. Introduction to Robotics
Presented by S.Pradeep AP/MCT

2. Work Space

3. Workspace
Volume in space that a robot end-effector can reach, both in position and orientation.
Position – Translation.
Orientation – Rotational.
Measured by Pitch, Roll, and Yaw.
Work envelope is the boundary/position in space that the robot can reach.

5. Spatial Resolution

6. Spatial Resolution
The spatial resolution of a robot is the smallest increment of movement into which the wrist can be controlled by the robot. [Smallest possible movement of a system]
Depends on:
System control resolution
Robot mechanical inaccuracies.

7. Control Resolution
Determined by the robot position control system & its feed back measurement system.
Addressable Points – Controller divide the individual points
Number of increments = 2n
where n – number of bit on the control memory

8. Find the common thing:

9. Accuracy
Robots ability to position its wrist at a desired target point within the work volume and with minimal error.
Ability of a robot to go to the specified position without making a mistake.
It is impossible to position a machine exactly.

10. Resolution The smallest degree of movement that a scale can detect.
Do you think “Huge TV means High resolution”?

11. Resolution

12. Repeatability
Ability of a robot to repeatedly position itself when asked to perform a task multiple times.

13. Power Transmission System
Power from one to another link through joints either by rotation or by linear movement.
Conversions:
Rotary to Rotary motion conversion.
Rotary to Linear motion conversion.
Harmonics drive.

14. Rotary to Rotary Motion
Gear Trains
Belt drive.
Link Rod Drive
Steel Cable
Sprocket and chain drive
Timing Belt

15. Rotary to Linear Motion
Lead Screw
Rack & Pinion
Slider & Crank
Cams
Belt & Pulley

16. Harmonic drives
Harmonic Drive is a strain wave gear which can improve certain characteristics compared to traditional gearing systems.
The strain wave gearing theory is based on elastic dynamics and utilizes the flexibility of metal.
The mechanism has three basic components: a wave generator (C), a flex spline (B), and a circular spline (A).

17. Harmonic drives The advantages include: No backlash,
High compactness and light weight,
High gear ratios,
Reconfigurable ratios within a standard housing,
Good resolution and excellent repeatability.