robot mechanics lec. 1: an...
TRANSCRIPT
Robot MechanicsLec. 1: An Introduction
Prof. S.K. Saha
Dept. of Mech. Eng.
IIT Delhi
August 03, 2015@IIT Delhi
Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg
Humanoid Robots
More Robots
Move to Directory
• Session: ‘sess1’ (9 min)
00-03, 06-12 min
• Session: ‘sess2’ (7 min)
08-15 min
History: Definition of Robot
• What is a robot?
Robit (Check word) --> Work
Robota (Slav word) --> Menial or slave labour
Got publicity from the play
Rossum’s Universal Robots (RUR) [1921]
Karel Capek
PUMA Robot
RTX Robot
SCORBOT-Israeli (by Falcon)
Pick/Place Robot-Systemantics, India
Fig. 1.3 (b) Six-axis robot from MTAB India [Courtesy: http://www.mtabindia.com/robotics/aristorobotics.htm]
PAR Lab.Pro
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Robotics
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Visit u
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I/O Devices Adaptive F/T Control Virtual Environment
Vision Based Control
Kinematic IdentificationDynamic Identification
Show
Parallel Robots
More Robots
• Parallel Robots
• Made in IITD
Space Robot
Fig. 1.4 An AGV: (a) Stand alone; (b) At work
[Courtesy: www.globalspec.com]
(a) (b)
Wheeled Robots
Centre-driven Vehicle (Carlisle, 1984)
With Mecanum wheel (Jonsson, 1985) or Omnidirectional wheel
(Muir and Neuman, 1987)
RoboTRAC
A system supported with wheels and legs
Snake-like articulated mobile robot
Fig. 1.2 (b) Sojourner microrover
Daksh
21
Fig. 1.14 Defence robot ‘Daksh’ by DRDO[Courtesy: http://en.wikipedia.org/wiki/DRDO_Daksh]
Legged robot
At homes
• Robots to work with human beings
• Arriving at
–Homes
–Kitchens
–Hospitals
RoboSquare, Japan
Robot MechanicsLec. 2: An Introduction
(contd.)
Prof. S.K. Saha
Dept. of Mech. Eng.
IIT Delhi
August 07, 2015@IIT Delhi
Remotely operated underwater robot by CMERI, Durgapur
[Courtesy: http://www.cmeri.res.in/rnd/rov.html]
Medical Applications
The da Vinci robot for minimally invasive surgery [Courtesy: http://www.intuitivesurgical.com/products/]
Netra
28
Int. Std. Org. (ISO) Definition
• Robot
An automatically controlled, re-programmable, multi-purpose manipulative machine, with or without locomotion, for use in industrial automation applications
• Other definitions: Rob. Soc. of Japan, etc.
• Common temrs: Re-programmable, Multi-purpose
Laws of Robotics
• By Issac Asimov (1940s)
1. A robot may not injure a human being or, though inaction, allow a human being to come to harm.
2. A robot must obey the orders given by human beings, except when such orders would conflict with the first law.
3. A robot must protect its own existence, as long as such protection does not conflict with the first or second law.
First Robot
• First Commercial Robot (1962)
By Unimation Inc., USA, founded by
Joseph F. Engelberger
(Father of Robotics)
in 1950
• Installed in General Motors plant
Photo of a Unimate robot[Courtesy: http://www.robothalloffame.org/inductees/
03inductees/unimate.html]
Fig. 1.18 Estimated populations of industrial robots [Courtesy: http://www.ifr.org/industrial-robots/statistics]
Fig. 1.19 Number of service robots sold in 2011 and 2012
[Courtesy: http://www.ifr.org/statistics/keyData2005.htm]
Table 1.1 Estimated stock of industrial robots during 2011-12 and forecast for 2013 and 2016
Reasons for Poor Utilization
• Mainly due to
U N E M P L O Y M E N T
[Japan with 3 50 000 robots in 1992 had < 3% unemployment]
• Other reasons
– Lack of proper perspective
– Cheap labour
– Non-availability
– High import cost/High investment
More Reasons
• R&D Supports: By Govt. only
• Companies involved: Almost nil
• Advanced Research Absorption: Poor
• Questions:
Should We Use Robots?
Do We Need Robots?
If yes, how?
Yes
Yes (modified way)
Let’s see
Robotics in Our Countries
• To Overcome `Robotics vs. Unemployment’
• Do we like to
– work in front of a furnace at 500oC [Hazardous]
– weld two parts for 8H/day for several years? [Monotonous]
• Robot = Machine [Robot Human]
Where and How?
• Where?
– In hazardous environment (Chemical, Steel, Nuclear, … plants)
– High precision applications
– Export oriented products
• How?
– Indigenous design
– Develop as required (Customized design)
– Make awareness
– Think it as a machine
When to Use a Robot?
Thumb Rules:
• Is task Dirty, Dull, Dangerous, Difficult?
• Will a human be jobless?
• Is a human willing to do a job?
• Is robot usage economic?
DD-MIT-Robocon’07Final in DD-Sports Test of Automatic
Hanoi, Vietnam
Robotech Room@IITD
RoboCon2RoboMuse: A New Initiative
Nov.’08-Mar’09 Nov.’09
Projects and Awards
• Three B. Tech projects guided
• Two awarded best awards + 2014 (RoboMuse for 24x7)
• Excel-based module for gripper design
• Program for chasis design
• Motivated students to correlate theory with practise
Conclusions
• Robotics is explained
• Several advanced robots are shown
• Robocon robots
• RoboMuse
