Lect 1 robotics.pdf

8/10/2019 Lect 1 robotics.pdf

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Macro, Micro and Nano Robotics

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Prof . S S Ohol , Mechanical Dept., COLLEGE OF ENGINEERING, PUNE

Dr. S. S. OHOL,

In-Charge Robotics & Automation Laboratory ,

Mechanical Engineering Department,

&

Faculty coordinator Robot Study Circle ,

College of Engineering , Pune 411 005.


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MACRO, MICRO & NANOROBOTI ) MACRO ROBOTS 1) Industrial :- Material Handling / Manuf. Processes.etc

2) Domestic \ Service Robots :-Entertainment, Road cleaning,

Construction, Hazardous, Surveillance, Human Assist, .etc.

3) Military Robots :- War \ Weapons, UAVs, UUVs, Tank Type etc

4) Miscellaneous :- Surgery ( Da- Vinchi Systems )

I I) MICRO ROBOTS 1) Industrial

2) Domestic \ Service Robots :- Floor Cleaning, Human Assist,Entertainment --- Bugs, Flying Types, Insect etc

3) Military Robots :- Spy \ Flying \ Underwater

4) Miscellaneous

I I I) NANO ROBOTS 1) Industrial2) Domestic \ Service Robots :- Medical \ Drug Delivery \

Surgery.etc

3) Military Robots

4) Miscellaneous :- Bush \ Fractal \ SWARM


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THE WORD ROBOT

The word robot was first used in 1921 by the

Czech Playwright ,novelist and essayist KarelCapekin his satirical drama entitled R.U.R.

( Rossums Universal Robots ).

It is derived from the Czech word Robotawhich means forced laborer or slave laborer

. The term robotics was coined by IssacAsimov in his short story Runaroundpublished in 1942.


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WHAT IS ROBOT

A mechanical device that

sometimes resembles a human being

and is capable of performing a

variety of often complex human

tasks on command or by being

programmed in advance.

A machine or device that operates

automatically or by remote control.

A person who works mechanically

without original thought, especially

one who responds automatically to

the commands of others.


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DEFINITIONS OF ROBOT

RIA Definition (RoboticsIndustrial Association formerlyKnown as Robotics Institute OfAmerica):

A re programmablemultifunctional manipulatordesign to move material,parts, tools or specialized

devices through variableprogrammed motions for theperformance of a variety oftasks.


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JIRIA Definition(Japan IndustrialRobot IndustryAssociation ) :

Industrial robot is an all

purpose machineequipped with amemory device and aterminal , and capableof rotation and of

replacing human laborsby automaticperformancemovements


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WEBSTER Definition :

( Well known person in thearea of CAD / CAM andRobotics )

A device that performs

functions ordinarily

ascribed to human beings

or operates with whatappears to be almost

human intelligence .

ISO 8373

An Automatically

controlled,reprogrammable,

multipurpose

Machine used for

industrial utilities


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THREE LAWS OF ROBOTICS( zeroth law is introduced in 1985 )

0. A Robot may not injure humanity , or , throughinaction allow humanity to come to harm

1. A robot may not injure a human being, or, throughinaction, allow a human being to come to harm , unlessthis would violate zeroth law

2. A robot must obey the orders given to it by humanbeings except where such orders would conflict with thefirst law.

3. A robot must protect its own existence as long assuch protection does not conflict with the first or secondlaw.


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Automation

Fixed Programmable Flexible

Robotics

Mobile Robot Industrial

Robot

Miscellaneous

Wheeled robots

Legged Robots

Polar Sys

Cartesian Sys

Cylindrical Sys

Joint Arm Sys

Limited Sequence Robot

Playback Robots

Point to point Control

(Based on CS)

Nano-Robots

Web Robots

Fractal Robots

PLACE OF ROBOT IN AUTOMATION


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Need of Robotisation

Increased Productivity

Decreased Labours Cost

Improvisation of Quality

Reduction of Inventory

Elimination of Dangerous / Undesirable Jobs

Minimisation of Wastages

Higher Flexibility in Production

Less Material Movement

Reduced Set-up Time

Flexibility in Planning

Improved Image of Company Export Considerations

Improved and Safe Environment


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Fears about Robotisation

Replacing Human Being at every Level

Higher Production causes unemployment

Robot may control Human activities / life Uncontrolled Robots not safe for Humans


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Areas of Developments for Robot

Technology Related to Artificial Intelligence ( AI )

Reasoning & problem solving

Knowledge representation and commonsense knowledge Automated planning and scheduling

Machine learning

Speech Processing & Recognition

Motion Planning & Odometry Computational creativity

Image Processing


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TYPES of ROBOTS Domestic Robot

Industrial Robot

Military Robot

Underwater Robot

Robot for Construction

Robots for Medical Application

Webots

Bio-mimetic Robots

Robots in Hazardous Area

Humanoids

Robots for Education Biped Robot

Flying Robot


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I) Industrial Robots / Robot Arms


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II ) Domestic /Service robots

Toy Robots

Robot for Assistance

I-Cybie from SilverlitAIBO (1st 1999) , AIBO( 2000 ), AIBO ERS7 (2005) and AIBO PS ( 2008 ) from Son y

The Battlefield Extraction-Assist Robot

1) Entertainment

2) Road cleaning

3) Construction

4) Hazardous

5) Surveil lance

6) Human Assist

7) Transportation


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Entertainment and Education Robot Dog & Cat type toy Robots

Sony AIBO

CYBIE

Trainer robo-kits Robots


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II ) Domestic / Service robots

Floor cleaningRobots

Spray painting Robots

Toy Robots

Robot for

Assis tance

Robot as lawnmowers


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TANK TYPE ROBOTS

with the PASSIVE COMPLIANCE


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Unmanned Flying Machines

Predator drone

U-2 B-737Global Hawk


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IV Construction RobotsCivil Engg Appl ications : Automatic excavation , Tele-operatedcompactor ,Wall erection , Concrete floor finishing


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V Surgery Robots - The Da Vinci Surgical

system

Few Types :

Robodoc, Caspar, Puma 560 - orthopedic surgeryProbot : Prostatectomy robotMinerva : Neurosurgery robot


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Personal robots HAZBOTUsed in dangeroussites for handling of hazardous materials

e.g. Nuclear plant and chemical plant

VII Miscellaneous


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Telerobots developed for exploration of the Mars

Sojourner/ Pathfinder


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2) COCKROACH ROBOT


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MICRO ROBOTS


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Micro-Flying Robot

Seiko Epson Corporation has developed a microrobot named FR-II. The robot

is the successor to the original FR, which used to be the worlds smallest and

lightest micro-flying robot; the newer version includes Bluetooth wireless

control and independent flight capabili ty.


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NANO ROBOTS


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NANO ROBOTS

Programmable assembly of nm-scale components either by

manipulation with macro or micro devices, or by directed

self-assembly.

Design and fabrication of robots with overall dimensions ator below the mm range and made of nm-scale components.

Programming and coordination of large numbers (swarms)

of such nanorobots.

Applications, especially biology, medicine and the

environment.


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Nanorobot for Medical Field

1.implants a tiny robot into your bloodstream

2. robot detects the cause of your fever

3. travels to the appropriate system and provides a

dose of medication directly to the infected area.


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The robot in this illustration swims through the arteriesand veins using a pair of tail appendages.


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Bush Robot/ Fractal branching

ultra-dexterous robot


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Making a Pattern

Baur et al. (1997) J. Vac. Sci. & Techn. B 15, 1577


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Microorganism Detection

algae

antibodyElectrode

PEI/PEGNanowire/Nanotube

Si Substrate

SiO2

Zhou et al., USC


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Statistics for use of Robot


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Production of Robots


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Applications of Robots


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IFR (International Federation of Robotics)

Trend for use of Robot

Industrial

Use

All Sectors

Use


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IFR (International Federation of Robotics)

Trend for use of Robot

Industrial

Use

All Sectors

Use


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ThanksDepartment of Mechanical Engg.,

K Js Educational Institutes

K J College of Engineering and

Management Research,

Pune

WISH YOU

A VERY HAPPY

and

PROSPOROUS

NEW YEAR 2012

Documents

Lect 1 robotics.pdf