Robotics deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. Robots have some kind of mechanical construction, electrical components which power and control the machinery and some level of computer programming code. The vast majority of robots use electric motors, often brushed and brushless DC motors in portable robots or AC motors in industrial robots and CNC machines. This course is designed to help students to understand the construction and operation of robots including electric motors and batteries. After completing this course, students will have expert knowledge on the recent developments in robot mechanics.
WHO SHOULD COMPLETE THIS COURSE
- Mechanical Engineers
- Electrical Engineers
- Electronic Engineers
- IT Specialists
- Installation and maintenance technicians
- Maintenance Engineers
- Operations Engineers
- Process Engineers
- Process Operators
- Production Managers
- Project Managers
- Designers
COURSE OUTLINE
INTRODUCTION TO ROBOT MECHANICS
- Theoretical mechanics
- Parts of Robots
- Classification of Robots
- Types of Robots
MOMENT ARMS
- Force
- Moment
- Moment arm for robot
- Degree of freedom of robots
- Joints of robots
MECHANICAL TRANSFORMATION DEVICES
- Levers
- Belts and Pulleys
- Gear boxes
- Lead Screws
STATIC AND DYNAMIC FICTION
- Types of friction
- Static and dynamic friction
- Friction dependencies in robot joints
SAFETY FACTORS
- Stress-Strain graph
- Stress-Strain curve for ductile materials
- Working stress - Limit stress
DISPLACEMENT AND VELOCITY
- Introduction
- Linear displacement
- Angular displacement
- Linear velocity
- Angular velocity
- Displacement of robots
- Robot dynamics
ACCELERATION
- Linear Acceleration
- Angular Acceleration
- Radial Acceleration
- Example
WHEEL DIAMETER VS TORQUE
- Number of wheels in robot design
- Common three wheeled robot configuration
- The four basic wheel types in robots
WHEEL DIAMETER CALCULATION FOR MOBILE ROBOTS
GEARINGS
- Torque and gearing
- Gearing principles
- Gear ratio
- Gearing Pros and cons
- Gear trains and types
MOMENTUM
- Linear Momentum
- Angular Momentum
INERTIA
- Mass moment of Inertia
- Moment of Inertia
- Radius of gyration
- Moment of Inertia – typical bodies
MOTOR TORQUE AND FORCE
- Gearing Ratio and Load torque
- Peak and RMS Load Torque
- Total Tractive effort
- Torque at Wheel
ELECTRIC MOTORS
- Construction
- Working Principle
- Types of DC Motors
- Types of AC motors
- Stepper Motors and its types
- Linear motors
- Solenoids
MOTOR SIZING AND SELECTION
- Motor Sizing - Basic Procedure
- Motor Sizing - Robot motion profile
- Motor Sizing - Inertia and Torque calculations
- Motor Sizing – Peak Torque and Force
- Motor Selection – Selection Steps
LOAD AND SYSTEM ANALYSIS
- Load on Robots
- Static and Dynamic overloading of Robot
- Design and selection of robot manipulators
- System load analysis
- Loads and system analysis
- Load parameters
POTENTIAL AND KINETIC ENERGY
- Energy
- Forms of energy
- Unified energy required
- Unified energy – PE/KE Calculation
ENERGY LOSSES
- Ground friction
- Gearing and Transmission losses
- Air friction losses
- Other losses
- Losses due to operating patterns
- Reducing Energy losses
EFFICIENCIES
- Efficiency measures
- Optimizing efficiencies
- Energy requirements
- Energy calculations
BATTERIES
- Battery Voltage Rating
- Battery Power Rating
- Batteries in Parallel
- Types of Batteries
ENERGY CONVERSION
- Total energy of a system
- Total energy equation of a system
- Summary of energy conversion
