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Rac Module 1
Rac Module 1
In a robot, some of the devices are used as the components of a robot control system for
providing feedback and control actions in order to control the manipulator.
Feedback devices:
Position Sensors
Velocity Sensors
Actuation devices:
Actuators
Power Transmission Systems
Position and Velocity Sensors:
Position sensors are the feedback devices used to find out the accurate movement of
joints for accomplishing the required direction and position of the end effector.
Position sensors use several devices such as resolvers, potentiometers, and encoders
for sensing the position.
Every single robot requires feedback devices for delivering accurate speed control.
Even the recently developed complicated control system also hardly relies on these
devices for gaining better performance of the robot manipulator in some tasks like
deceleration and acceleration.
Actuators and Power Transmission Systems:
A controller uses the actuators and power transmission systems for achieving
the control actions.
In some cases, the power transmission systems will not be required if the actuators
are attached with the robot joints itself.
Movement A robot needs to be able to move around its environment. Whether rolling
on wheels, walking on legs or propelling by thrusters a robot needs to be able to
move. To count as a robot either the whole robot moves, like the Sojourner or just
parts of the robot moves, like the Canada Arm.
Energy A robot needs to be able to power itself. A robot might be solar powered,
electrically powered, battery powered. The way your robot gets its energy will depend
on what your robot needs to do.
Intelligence A robot needs some kind of "smarts." This is where programming enters
the pictures. A programmer is the person who gives the robot its 'smarts.' The robot
will have to have some way to receive the program so that it knows what it is to do.
Uses of sensors in Robotics
The sensors are one of the useful technologies that play the vital role in the robotics
field
The quality control in work part inspection and data collection of the objects in the
robot work cell.
The sensors are used in the industrial robotics for monitoring the dangerous and
safety conditions in the robot cell layout.
They help in avoiding the physical injuries and other damages caused to the human
workers .
In the robot work cell, the series of activities of various equipments are controlled
by using the interlocks.
The sensors are used to verify the conclusion of the current work cycle before
progressing to the next cycle.
The quality control was performed with the manual inspection system.
Nowadays, The sensors are used in the inspection process to determine the quality
features of the work part automatically.
The sensors provide high accurate results but the sensors are only able to examine
the limited variety of work part features and faults .
The sensors are used in data collection of objects in the robot work cell to determine
the position or other related data about the fixtures, the work parts, the equipment,
the human workers and so on,.
Apart from sensing the position, It is implemented to find out the other information
like the work part’s color, the orientation, the size, the shape, etc.
Algorithm based on the wavelet transform for fusing the images of different spectra
and different foci improves the image quality, The robots can collect more accurate
information from the resulting improved image .
The visual sensors help the robots to identify the surrounding and they take
appropriate action, Touch sensory signal is useful to identify the external tactile
signals for the accurate operations, Touch patterns enable the robots to interpret the
human emotions in interactive
applications.
The robots use touch signals to map the profile of the surface in hostile environment
such as the water pipe, The predetermined path was programmed into the robot,
with the integration of touch sensors, The robots first acquire the random data point
.
The accurate audio sensor requires low internal noise contribution, audio sensors
combine the acoustical arrays and the microphones to reduce the internal noise
level.
• Applications which are very general and numerous, include automated inspection of surface
profiles and joints for defects, parts identification and gaging in manufacturing applications
and fine manipulation tasks.
• The tactile sensor should have a compliant covering with skin like properties along with
enough degrees of freedom for flexibility and dexterity, adequate robustness and some local
intelligence for identification and learning purposes.
• Typical specifications for and industrial tactile sensor are
1. Spatial resolution of about 2mm.
2. Forces resolution of about 2gm.
3. Force capacity of about 1kg.
4. Response time of 5ms or less.
5. Low hysteresis.
6. Durability under harsh conditions.
7. Insensitivity to change in environmental conditions.
8. Capability to detect and even predict slip.
The object being sensed is often referred to as the proximity sensor's target.
Proximity sensors can have a high reliability and long functional life because of the
absence of mechanical parts and lack of physical contact between the sensor and the
sensed object.
Proximity sensors are also used in machine vibration monitoring to measure the
variation in distance between a shaft and its support bearing. This is common in large
steam turbines, compressors, and motors that use sleeve-type bearings.
Types of Proximity sensors
Capacitive
Capacitive displacement sensor
Doppler effect (sensor based on doppler effect)
Inductive
Magnetic, including magnetic proximity fuse
Optical
Photoelectric
Photocell (reflective)
Laser rangefinder
Passive (such as charge-coupled devices)
Passive thermal infrared
Radar
Reflection of ionizing radiation
Sonar (typically active or passive)
Ultrasonic sensor
Fiber optics sensor
Hall effect sensor
Capacitive touch systems exploit the property that from an electronic circuit point of view,
human beings not much more than large bags filled with a salty (and therefore conductive)
liquid.
Such objects usually have a pretty good connection with (earth) ground, either directly
(resistively) or indirectly (capacitively).
Since capacitive sensors typically are used to measure how far away this ground is, it looks like
ground is coming closer when the user moves his hand closer to the sensor, and ground is
moving further away when the user removes his hand.
For such systems, the hand of the user (and actually all conducting objects with a reasonably
well defined potential) act as one plate of a capacitor and the capacitive sensor itself is the
other plate.
The closer these plates are, the larger the capacitance is.
The sensor itself consists of a conductive surface (usually a copper pad on a PCB) and forms
one side of the capacitor.
The sensor itself has a very weak connection to ground and thus there are only a few electrical
field lines flowing from the sensor to ground and from sensor to the user. The capacitance
measured by the sensor in this case is very low.
photoelectric sensor or Optical Sensor
If the target enters the preset operating area, the sensor output
changes state.
If the target leaves the preset operating area, the output returns to the
initial state.
Range sensors
The distance between the object and the robot hand is measured using the range
sensors Within it is range of operation.
The calculation of the distance is by visual processing. Range sensors find use in
robot navigation and avoidance of the obstacles in the path.
The - location and the general shape characteristics of the part in the work envelope ofthe
robot S done by special applications for the range sensors.
There are several approaches like, triangulation method, structured lighting approach and
time-of flight range finders etc. In these cases the source of illumination can be light-source,
laser beam or based on ultrasonic.ca
Triangulation Method:
The object is swept over by a narrow beam of sharp light.
The sensor focused on a small spot of the object surface detects the reflected
beam of light.
If ‗8‘is the angle made by the ill source and the sensor, the dist
Spur Gear
Helical Gear
Bevel Gear
Worm Gear
Rack and Pinion
Belt Drives
Belt Drives are a type of frictional drives used for transmitting powers from one shaft to another
by means of pulleys which rotate at the same speed or at the different speed.
Chain drives are suitable for small centre distances and can be used generally up to 3 meters but
in special cases even up to 8 meters. Chain drives transmit power up to 100kw and operating
peripheral velocity up to 15m/s. The velocity ratio can be as high as 8:1.
The different types of chains used in power transmission are,
Roller chain
Silent chain
Leaf Chain
Flat-top Chain
Engineering Steel Chain
1. Roller Chain (Bush Roller Chain) 2. Silent Chain