ROBOT MECHKINEMATICS,DYN,CTRL EGGN 518
Colorado School of Mines
Popular in Course
Popular in Engineering and Tech
verified elite notetaker
This 35 page Class Notes was uploaded by Burdette Wintheiser on Monday October 5, 2015. The Class Notes belongs to EGGN 518 at Colorado School of Mines taught by Staff in Fall. Since its upload, it has received 19 views. For similar materials see /class/219631/eggn-518-colorado-school-of-mines in Engineering and Tech at Colorado School of Mines.
Reviews for ROBOT MECHKINEMATICS,DYN,CTRL
Report this Material
What is Karma?
Karma is the currency of StudySoup.
You can buy or earn more Karma at anytime and redeem it for class notes, study guides, flashcards, and more!
Date Created: 10/05/15
EGGN 518 Robot Mechanics Kinematics Dynamics and Control Kevin L Moore Instructor Fall 2008 Outline 10 Introduction 11 Of Robotics Automation Autonomy and Unmanned Systems What is a robot Types ofrobots Why use robots Robot applications 12 Industrial Robots Components and Characteristics Classification and Workspace 13 Scope of Course Forward Kinematics Inverse Kinematics Velocity Kinematics Dynamics Planning Lecture 2 Components of a Robot Manipulator arm 7 Joints End effector gripper Actuators and drive 7 Servo and stepper motors 7 Hydraulics 7 Pneumatics 7 Gearbox Sensors and transducers Controllers ower conversion 7 HBridges Base 0 Processor Wheeled tracked legged 0 Software Fixed Lecture 2 Robot Components cont Manipulator Is the main body of the robot and consists of links the joints and other structural elements End Effectors The part that is connected to the last joint hand of a manipulator In most cases the action of the end effector is either controlled by the robot s controller or the controller communicates with the end effector s controlling device such as e g PLC End Effector G 1quot Translation Z 17 Rotation z y x Pitch Rolalioll y World frame I 1 Translation y Left ngui aw Right flags jaw Handframe Tmnsla onbr 39 Yaw Rotation x 1 yummy Lecture 2 End Effector 6 Elm ltl39i39 lll Text Illustrations To Accompany SpongHutchinson Robot Modeling and Control Chapter 1 Introduction Figure 17 Examples of robot grippers Shown here from left to right are a two ngered parallel jaw gripper a scissor type gripper and a vertical gripper Photos courtesy of ASG Jergen s7 Cleveland Ohio o1o7 Vrist Center Point Yaw Figure 16 The Spherical Wrist The axes of rotation of the spherical Wrist are typically denoted roll pitch7 and yaw and intersect at a point called the Wrist center point o1os Robot Components cont Actuators Are the muscles of the manipulatOr that move or create mechanical action Common types Servomotors power driven mechanism that help main controller operates using low force Stepper motors a rotating motor in a small step and not continuous Pneumatic cylinders relating to air or other gases Hydraulic cylinders moved by or operated by a V uid especially water under pressure ll Robot Components cont Sensors Sensors are used to collect information about the internal state if the robot to communicatexwith outside environment 4 E g Vision system speech and touchtactile Controller Similar to cerebellum controls motions Receive data from computer control actuators motions and coordinates the motions with the sensory feedback information Eg Controls angle velocity force Robot Components cont Processor The brain Generally a computer but dedicated to a single purpose E g Calculates motions how muchfast joint must move Software Three group of software Operating system Robotic software calculates necessary motions of each joint based on kinematics equations Collection of routines and application programs to use peripheral deVices eg Vision routines specifilc3 task UXV System Components A II n 4 n I n I Handheld S nsor Ve 39cle Vehicle Controller Payload Control Sys Comm Sys 1 v v v v u v v Operating System CommsNetvvorking Protocols quot Mechanical Assembly HMI gt AvionicsElectronics Database gt Software Sensor Processing gt Algorithms GNCPlanning Command and Control Deployment Sy stem 39 Robot Characteristics 1 The following de nition are used to characterized robot speci cation i Payload ii Reach iii Precession iV Repeatability Robot CharacteriStics cont Payload Payload is the weight a robot can carry and still remain within its other speci cations E g A robot maximum load capacity may be much larger than its speci ed payload but at quot maximum level it may become less accurate may not follow its intended path accurately or may have excessive de ections Robot Characteristics cont Reach MaXirnurn distance a robot can reaCh Within its work envelope Precision validity De ned as how accurately a speci ed point i can be reached Most industrial robot can have precision of 0001 inch or better Robot Characteristics cont Repeatability variability Repeatability is how accurate the same position can be reached of the motion repeated many times Repeatability is more important than precision If a robot is not precise it will generally show a consistent error which can be predicted and thus corrected using programming 1f the error is random it cannot be predicted and thus cannot be eliminated Most industrial robots have repeatability in the 0001 inch range 18 Of Links and Joints Robots of primary interest in this course are serial or chain mechanisms composed of 7 links connected by 7 joints Links 7 Generally considered to be rigid 7 Connected in pairs 7 Also called members 0 Joints 7 Connect two links 7 Provides physical constraints on relative motion between members Lecture 2 Links COLORADO SCHOOL OFiMLVEs 0 Relative motion permitted by a joint is governed by the form of contact surfaces between the members Contact surface is called a pair element Two pair elements are called a kinematic pair 0 Kinematic pairs Lower pair substantial contact surface El l 39 W Higher pair pair elements are in contact at a point or along a line Lecture 2 Programme VTU EDUSAT KINEMATICS OF MECHANISMS from VTU eLearning Center Discussion Forum A supplement to the VTU EDUSAT Programme conducted live from VTU Studio Bangalore Programme lX Aug 2008 to Nov 2008 7 mug 4m Ledr n ing VTU EDUSAT Programme MECHANISM Mechanism 7 Part of a machine which transmit motion and power from input point to output point 4 m W Ledr n mg a b VTUEDUSAT Programme d PAIRING ELEMENTS Pairing elements the geometrical forms by which two members of a mechanism are joined together so that the relative motion between these two is consistent Such a pair of links is called Kinematic Pair raw i Li Lecir ning VTU EDUSAT 7 Programme PAIRING ELEMENTS a Ug ww gamuwugysmuam cum VTUe 3214 m Ledrnmg VTU EDUSAT L Programme PAIRING ELEMENTS mm mmw mm mm munmud unium caunesvwwmnmagyswem cum 4 Ledr n mg 39 VTUEDUSAT Programme DEGREES OF FREEDOM DOF It is the number of independent coordinates required to describe the position of a body h Vii Led ning H VTU EDUSAT Programme TYPES OF KINEMATIC PAIRS Based on nature of contact between elements gt i Lower pair The joint by which two members are connected has surface contact 9 shut5 W quot7quot I U 7quot 39 5 Lear n1ng VTU EDUSAT Programme ii Higher pair The contact between the pairing elements takes place at a point or along a line VT Ue Ledr nlng VTU EDUSAT Programme Based on relative motion between pairing elements a Siding pair DOF 1 b Turning pair revolute pair DOF 1 2 7 V m Learning VTU EDUSAT Programme Based on relative motion between pairing elements d Rolling pair DOF 1 2 Wige 5quot 39 39539 Learning VTU EDUSAT Programme Based on relative motion between pairing elements 31quot 7 4 mg SOCKET ELEMENT e Spherical pair DOF 3 Eg Ball and socketjoint f Helical pair or screw pair DOF 1 4quot v m E Learning VTU EDUSAT Programme Based on the nature of mechanical constraint a Closed pair VT U2 Ledr nTng VTU EDUSAT a Programme CONSTRAINED MOTION one element has got only one definite motion relative to the other W Erquot Learning VTU EDUSAT Programme a Completely constrained motion ukulw W m V39T Ug Wquot 4395quotquot Lecir39n mg
Are you sure you want to buy this material for
You're already Subscribed!
Looks like you've already subscribed to StudySoup, you won't need to purchase another subscription to get this material. To access this material simply click 'View Full Document'