Challenges Developing an Adequate
Curriculum
Dr. Antonio Soares
Florida A&M University
Electronic Engineering Technology
Antonio.soares@famu.edu

 Intro to Robotics
 Definitions
 Types of Robots
 Applications

 Education Packages
 Saturated Market
 Technology Crossover
 Lego and Boebot
Industrial Robots
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

Degree of Freedom
Joints
Coordinates
 Mechatronics

What’s New!!!
 Complexity

 A machine that resembles a human being and does mechanical routine tasks on command.
 An industrial robot is a re-programmable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

 Robotics is the art, knowledge base, and the know-how of designing, applying, and using robots in human endeavors.

 Mobile Robots  Crawling Robots
Parallax
Mars Explore

 Stationary Robots  Autonomous Robots
Industrial Robot
EET Robot (Mechatronics)

HONDA (ASIMO) – Biped Robot Fujitsu – Biped Robot

Sony (AIBO) – Toy robot

Machine loading
Pick and place operations
Welding
Painting
Sampling
Assembly operation
Manufacturing
Surveillance
Medical applications
Assisting disabled individuals
Hazardous environments
Underwater, space, and remote locations

 A manipulator (or an industrial robot) is composed of a series of links connected to each other via joints. Each joint usually has an actuator (a motor for eg.) connected to it.
 These actuators are used to cause relative motion between successive links. One end of the manipulator is usually connected to a stable base and the other end is used to deploy a tool.

Painting Robot

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Manipulator
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Pedestal
•
Controller
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End Effectors
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Power Source

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Base
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Appendages
Shoulder
Arm
Grippers

(Human waist)
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Supports the manipulator.
•
Acts as a counterbalance.

(The brain)
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Issues instructions to the robot.
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Controls peripheral devices.
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Interfaces with robot.
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Interfaces with humans.

(The hand)
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Spray paint attachments
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Welding attachments
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Vacuum heads
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Hands
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Grippers

(The food)
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Electric
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Pneumatic
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Hydraulic

 Typically defined as a graph of links and joints
A link is a part, a shape with physical properties.
A joint is a constraint on the spatial relations of two or more links.

 Degrees of Freedom: Number of independent position variables which would has to be specified to locate all parts of a mechanism.
 In most manipulators this is usually the number of joints.

what is the degree
A Fanuc P-15 robot.
Reprinted with permission from Fanuc Robotics, North America, Inc.
1 D.O.F.
2 D.O.F.
3 D.O.F.

Prismatic Joint : Linear, No rotation involved.
(Hydraulic or pneumatic cylinder)
Revolute Joint : Rotary,
(electrically driven with stepper motor, servo motor)

 Cartesian/rectangular/gantry (3P) : 3 cylinders joint
 Cylindrical (R2P) : 2 Prismatic joint and 1 revolute joint
 Spherical (2RP) : 1 Prismatic joint and 2 revolute joint
 Articulated/anthropomorphic (3R) : All revolute(Human arm)
 Selective Compliance Assembly Robot Arm (SCARA):
2 paralleled revolute joint and 1 additional prismatic joint

 In Order to Model the Motion of a Manipulator:
 Odometry Position Updates Using Wheals
 Kinematics
 Inverse Kinematics
 Complex PID Controllers

 Kinematics
 Kinematics is the study of motion without regard for the forces that cause it.
 It refers to all time-based and geometrical properties of motion.
 It ignores concepts such as torque, force, mass, energy, and inertia.

 Given the starting configuration of the mechanism and joint angles, compute the new configuration.

 Robots increase productivity, safety, efficiency, quality, and consistency of products.
 Robots can work in hazardous environments without the need.
 Robots need no environmental comfort.
 Robots work continuously without experiencing fatigue of problem.
 Robots have repeatable precision at all times.
 Robots can be much more accurate than human.
 Robots replace human workers creating economic problems.
 Robots can process multiple stimuli or tasks simultaneously.
 Robots lack capability to respond in emergencies.
 Robots, although superior in certain senses, have limited capabilities in Degree of freedom, Dexterity, Sensors, Vision system, real time response.
 Robots are costly, due to Initial cost of equipment, Installation costs, Need for Peripherals, Need for training, Need for programming .

• Design Limitations
•we design them, we code the tasks to be performed
• Emotionless Machines
•Cannot logically reason, and/or plan activities, unless the designer program it to do so.
• Ethical Issues

VEX Robotics Lego Robotics
Boebot From Parallax

Robotics is an interdisciplinary subject that benefits from mechanical engineering, electrical and electronic engineering, computer science, biology, and many other disciplines.

• For K-12 Robot Kits are Appropriate
•Plan in Advance
• Most of these kits are not easy to follow because they share applications
•For Higher Education
•Mechatronics with some Industrial robots is Advised

FALL 2012 Technical Elective (All Majors)
EET 4931 - SPEC TOP ELECTRO ENG
Introduction to Robotics and Automation
Instructor: Antonio Soares
Antonio.soares@famu.edu