History and Applications of Robotics

Robotics
MSE 2400
1
2
Manipulator
What is a Robot? (1)
3
Wheeled Robot
Legged Robot
What is a Robot? (2)
4
Unmanned Aerial Vehicle
Autonomous Underwater Vehicle
What is a Robot? (3)
5
Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
Jobs that are dangerous
for humans
What Can Robots Do? (1)
6
 
Repetitive jobs that are
boring, stressful, or labor-
intensive for humans
Welding Robot
What Can Robots Do? (2)
7
The SCRUBMATE Robot
Menial tasks that human
don’t want to do
What Can Robots Do? (3)
8
Word robot was coined by a Czech
novelist Karel Capek in a 1920 play
titled Rossum’s Universal Robots
(RUR)
Robota in Czech is a word for
worker or servant
Definition of robot:
 A robot is a 
reprogrammable,
 
multifunctional
 manipulator
designed to move material, parts, tools or specialized devices
through variable programmed motions for the performance of
a variety of tasks: Robot Institute of America, 1979
Definition
9
Asimov proposed three “Laws
of Robotics”
Law 1:  A robot may not injure
a human being or through
inaction, allow a human being
to come to harm
Law 2: A robot must obey
orders given to it by human
beings, except where such
orders would conflict with a
higher order law
Law 3: A robot must protect its
own existence as long as such
protection does not conflict
with a higher order law
Laws of Robots
10
The first industrial
robot: UNIMATE
1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation, which
becomes the name of the first
robot company (1962).
UNIMATE originally automated the
manufacture of TV picture tubes
History of Robotics (1)
11
PUMA 560 Manipulator
1978: The Puma (Programmable
Universal Machine for
Assembly) robot is developed
by Unimation with a General
Motors design support
History of Robotics (2)
12
1980s: The robot industry enters a phase of rapid growth. Many
institutions
 
introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering,
 
electrical
engineering, and computer science departments.
Adept's SCARA robots
Barrett Technology Manipulator
Cognex In-Sight Robot
History of Robotics (3)
13
2003: NASA’s Mars Exploration Rovers 
will launch toward
Mars in search of answers about the history of water on Mars
1995-present: Emerging
applications in small
robotics and mobile
robots drive a second
growth of start-up
companies and research
History of Robotics (4)
14
Typical knowledgebase for the design and operation of robotics
systems
Dynamic system modeling and analysis
Feedback control
Sensors and signal conditioning
Actuators and power electronics
Hardware/computer interfacing
Computer programming
Disciplines: mathematics, physics, biology,
mechanical engineering, electrical engineering,
computer engineering, and computer science
Knowledgebase for Robotics
15
 
Base
Manipulator
linkage
Controller
Sensors
Actuators
User interface
Power
 
conversion
 unit
Key Components
16
 
Mobile bases are typically
platforms with wheels or tracks
attached. Instead of wheels or
tracks, some robots employ
legs in order to move about.
Robotic manipulators used in
manufacturing are examples of
fixed robots. They can not
move their base away from the
work being done.
Robot Base: Fixed v/s Mobile
17
Inclined plane wedge
Slider-Crank
Cam and Follower
Gear, rack, pinion, etc.
Chain and sprocket
Lever
Linkage
Robot Mechanism: 
Mechanical Elements
18
Human senses: sight, sound, touch, taste, and smell
provide us vital information to function and survive
Robot sensors: measure robot configuration/condition
and its environment and send such information to robot
controller as electronic signals (e.g., arm position,
presence of toxic gas)
Robots often need information that is beyond 5 human
senses (e.g., ability to: see in the dark, detect tiny
amounts of invisible radiation, measure movement that is
too small or fast for the human eye to see)
Accelerometer
Using Piezoelectric Effect
Flexiforce Sensor
Sensors (1)
19
In-Sight Vision Sensors
Part-Picking: Robot can handle
work pieces that are randomly piled
by using 3-D vision sensor. Since
alignment operation, a special parts
feeder, and an  alignment pallete
are not required,  an automatic
system can be  constructed at low
cost.
Vision Sensor: e.g., to pick bins,
perform inspection, etc.
Sensors (2)
20
Parts fitting and insertion
:
Robots can do precise fitting and
insertion of machine parts by using
force sensor. A robot can insert parts
that have the phases after  matching
their phases in addition to simply
inserting them. It can automate high-
skill jobs.
Force Sensor: e.g., parts
fitting and insertion,
force feedback in robotic
surgery
Sensors (3)
21
Infrared Ranging Sensor
KOALA ROBOT
6 ultrasonic sonar transducers to explore wide, open areas
Obstacle detection over a wide range from 15cm to 3m
16 built-in infrared  proximity sensors (range 5-20cm)
Infrared  sensors act as a “virtual bumper” and allow for
negotiating tight  spaces
Example
Sensors (4)
22
Tilt Sensor
Planar Bipedal Robot
Tilt sensors: e.g., to balance a robot
Example
Sensors (5)
23
Common robotic actuators utilize combinations of
different electro-mechanical devices
Synchronous motor
Stepper motor
AC servo motor
Brushless DC servo motor
Brushed DC servo motor
http://www.ab.com/motion/servo/fseries.html
Actuators (1)
24
Hydraulic Motor
Stepper Motor
Pneumatic Motor
Servo Motor
Pneumatic Cylinder
DC Motor
Actuators (2)
25
Provide necessary intelligence to control the
manipulator/mobile robot
Process the sensory information and compute the
control commands for the actuators to carry out
specified tasks
Controller
26
Storage devices: e.g., memory to store the
control program and the state of the robot system
obtained from the sensors
Controller Hardware
27
Agriculture
Automobile
Construction
Entertainment
Health care: hospitals, patient-care, surgery , research, etc.
Laboratories: science, engineering , etc.
Law enforcement: surveillance, patrol, etc.
Manufacturing
Military: demining, surveillance, attack, etc.
Mining, excavation, and exploration
Transportation: air, ground, rail, space, etc.
Utilities: gas, water, and electric
Warehouses
Industries Using Robotics
28
Industrial Robots
Material Handling Manipulator
Assembly Manipulator
Spot Welding Manipulator
Material handling
Material transfer
Machine loading and/or
unloading
Spot welding
Continuous arc welding
Spray coating
Assembly
Inspection
What Can Robots Do?
29
NASA Space Station
Robots In Space
30
TROV in Antarctica
operating under water
HAZBOT operating in
atmospheres containing
combustible gases
Robots in Hazardous Environments
31
Robotic assistant for
micro surgery
Medical Robots
32
Sony Aido
Sony SDR-3X Entertainment Robot
Robots at Home
33
Cog
Kismet
Artificial Intelligence
Future of Robots (1)
34
Garbage Collection Cart
Robot Work Crews
Autonomy
Future of Robots (2)
35
HONDA Humanoid Robot
Humanoids
Future of Robots (3)
36
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Explore the fascinating world of robotics through images and information on different types of robots, their capabilities, and the laws governing their behavior. Learn about the origins of robotics, the definition of a robot, and the famous Laws of Robotics proposed by Asimov. Delve into the history of robotics, starting with the first programmable robot, UNIMATE, created in 1954. Discover the diverse roles robots play, from handling dangerous tasks in nuclear power plants to performing repetitive and menial jobs. Gain insights into the evolution of robotics and the pivotal role they play in modern society.

  • Robotics
  • History
  • Applications
  • Laws of Robotics
  • Definitions

Uploaded on Oct 09, 2024 | 0 Views


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  1. Robotics MSE 2400 1

  2. 2

  3. What is a Robot? (1) Manipulator 3

  4. What is a Robot? (2) Legged Robot Wheeled Robot 4

  5. What is a Robot? (3) Autonomous Underwater Vehicle Unmanned Aerial Vehicle 5

  6. What Can Robots Do? (1) Jobs that are dangerous for humans Decontaminating Robot Cleaning the main circulating pump housing in the nuclear power plant 6

  7. What Can Robots Do? (2) Repetitive jobs that are boring, stressful, or labor- intensive for humans Welding Robot 7

  8. What Can Robots Do? (3) Menial tasks that human don t want to do The SCRUBMATE Robot 8

  9. Definition Word robot was coined by a Czech novelist Karel Capek in a 1920 play titled Rossum s Universal Robots (RUR) Robota in Czech is a word for worker or servant Karel Capek Definition of robot: A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks: Robot Institute of America, 1979 9

  10. Laws of Robots Asimov proposed three Laws of Robotics Law 1: A robot may not injure a human being or through inaction, allow a human being to come to harm Law 2: A robot must obey orders given to it by human beings, except where such orders would conflict with a higher order law Law 3: A robot must protect its own existence as long as such protection does not conflict with a higher order law 10

  11. History of Robotics (1) The robot: UNIMATE 1954: The first programmable robot is designed by George Devol, who coins the term Universal Automation. He later shortens this to Unimation, which becomes the name of the first robot company (1962). first industrial UNIMATE originally automated the manufacture of TV picture tubes 11

  12. History of Robotics (2) 1978: The Puma (Programmable Universal Machine Assembly) robot is developed by Unimation with a General Motors design support for PUMA 560 Manipulator 12

  13. History of Robotics (3) 1980s: The robot industry enters a phase of rapid growth. Many institutions introduce programs and courses in robotics. Robotics courses are spread across mechanical engineering, electrical engineering, and computer science departments. 13 Barrett Technology Manipulator Adept's SCARA robots Cognex In-Sight Robot

  14. History of Robotics (4) 1995-present: applications robotics robots drive a second growth of companies and research Emerging in small and mobile start-up 2003: NASA s Mars Exploration Rovers will launch toward Mars in search of answers about the history of water on Mars 14

  15. Knowledgebase for Robotics Typical knowledgebase for the design and operation of robotics systems Dynamic system modeling and analysis Feedback control Sensors and signal conditioning Actuators and power electronics Hardware/computer interfacing Computer programming Disciplines: mechanical engineering, electrical engineering, computer engineering, and computer science mathematics, physics, biology, 15

  16. Key Components Powerconversion unit Sensors Actuators Controller User interface Manipulator linkage Base 16

  17. Robot Base: Fixed v/s Mobile Robotic manipulators used in manufacturing are examples of fixed robots. They can not move their base away from the work being done. Mobile platforms with wheels or tracks attached. Instead of wheels or tracks, some robots employ legs in order to move about. bases are typically 17

  18. Robot Mechanism: Mechanical Elements Gear, rack, pinion, etc. Cam and Follower Inclined plane wedge Chain and sprocket Lever Slider-Crank Linkage 18

  19. Sensors (1) Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas) Accelerometer Using Piezoelectric Effect Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see) Flexiforce Sensor 19

  20. Sensors (2) Vision Sensor: e.g., to pick bins, perform inspection, etc. Part-Picking: Robot can handle work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost. In-Sight Vision Sensors 20

  21. Sensors (3) Force Sensor: e.g., parts fitting and force feedback in robotic surgery insertion, Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high- skill jobs. 21

  22. Sensors (4) Example Infrared Ranging Sensor KOALA ROBOT 6 ultrasonic sonar transducers to explore wide, open areas Obstacle detection over a wide range from 15cm to 3m 16 built-in infrared proximity sensors (range 5-20cm) Infrared sensors act as a virtualbumper and allow for negotiating tight spaces 22

  23. Sensors (5) Tilt sensors: e.g., to balance a robot Example Tilt Sensor Planar Bipedal Robot 23

  24. Actuators (1) Common robotic actuators utilize combinations of different electro-mechanical devices Synchronous motor Stepper motor AC servo motor Brushless DC servo motor Brushed DC servo motor http://www.ab.com/motion/servo/fseries.html 24

  25. Actuators (2) Pneumatic Cylinder Hydraulic Motor Stepper Motor DC Motor Pneumatic Motor Servo Motor 25

  26. Controller Provide necessary intelligence to control the manipulator/mobile robot Process the sensory information and compute the control commands for the actuators to carry out specified tasks 26

  27. Controller Hardware Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors 27

  28. Industries Using Robotics Agriculture Automobile Construction Entertainment Health care: hospitals, patient-care, surgery , research, etc. Laboratories: science, engineering , etc. Law enforcement: surveillance, patrol, etc. Manufacturing Military: demining, surveillance, attack, etc. Mining, excavation, and exploration Transportation: air, ground, rail, space, etc. Utilities: gas, water, and electric Warehouses 28

  29. What Can Robots Do? Industrial Robots Material handling Material transfer Machine unloading Spot welding Continuous arc welding Spray coating Assembly Inspection loading and/or Material Handling Manipulator Assembly Manipulator 29 Spot Welding Manipulator

  30. Robots In Space NASA Space Station 30

  31. Robots in Hazardous Environments HAZBOT operating in atmospheres combustible gases TROV in Antarctica operating under water containing 31

  32. Medical Robots Robotic micro surgery assistant for 32

  33. Robots at Home Sony Aido Sony SDR-3X Entertainment Robot 33

  34. Future of Robots (1) Artificial Intelligence Kismet Cog 34

  35. Future of Robots (2) Autonomy Robot Work Crews Garbage Collection Cart 35

  36. Future of Robots (3) Humanoids HONDA Humanoid Robot 36

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