Basic components of robotic systems
The basic components of robotic systems include:
- Controller: A computer system that controls the robot's movements.
- Robotic arms: The parts that perform tasks like holding, pulling, and pressing.
- Actuators: Responsible for physical movement.
- Sensors: Allow robots to interact with their environment in an intelligent way.
- End effector: Also known as an end-of-arm tool (EOAT), this component allows the robot to interact with objects.
- Power sources: Batteries or other power sources.
Other components of robotic systems include:
- Robotic sensors and transducers: These allow robots to access basic senses like sight, hearing, and touch.
- Articulated robots: Also known as robotic arms, these are designed to perform functions similar to a human arm.
Components of Robot
Consider the robot structure showing different components of robots are:
Consider the key components of robotics are:-
- Power Supply - The working power to the robot is provided by batteries, hydraulic, solar power, or pneumatic power sources.
- Actuators - Actuators are the energy conversion device used inside a robot. The major function of actuators is to convert energy into movement.
- Electric motors (DC/AC)- Motors are electromechanical component used for converting electrical energy into its equivalent mechanical energy. In robots motors are used for providing rotational movement.
- Sensors - Sensors provide real time information on the task environment. Robots are equipped with tactile sensor it imitates the mechanical properties of touch receptors of human fingerprints and a vision sensor is used for computing the depth in the environment.
- Controller - Controller is a part of robot that coordinates all motion of the mechanical system. It also receives an input from immediate environment through various sensors. The heart of robot's controller is a microprocessor linked with the input/output and monitoring device. The command issued by the controller activates the motion control mechanism, consisting of various controller, actuators and amplifier.
basic terminology- accuracy of robot
Robot accuracy refers to a robot's ability to perform a movement and achieve the desired result. There are different types of robot accuracy, including:
- Static repeatability: How accurately a robot returns to a point when the same path is repeated
- Dynamic repeatability: How accurately a robot travels the same path again
- Absolute accuracy: How well a robot travels a new path within a defined tolerance range
- Positioning accuracy: The error between the requested point and the measured position reached by the robot
It's important to not confuse accuracy with repeatability, even though the goal is to have both. A robot that can repeat its actions while hitting the target every time is ideal.
basic terminology-Repeatability of robot
Robot repeatability is a robot's ability to consistently return to a programmed position. It's also known as precision in the robotic world.
Repeatability is a key factor in a robot's performance, and is often more important than accuracy. Repeatability is similar to the concept of precision in measurement.
Repeatability is different from accuracy, which is the ability to hit a target with minimal error.
Here are some other robotic terms:
- Manipulator: A sequence of joints and links that allows a robot to manipulate parts without direct contact from an operator
- Articulation: A jointed device that allows a robot to reach into confined spaces
- Compliance: A measure of how much a robot axis moves when a force is applied to it
basic terminology-Resolution of robot
In robotics, resolution is the smallest increment a robot can measure or display. It's the smallest improvement in the movement that a robot's computer can produce.
Here are some other terms related to robot performance:
- Accuracy: How close a measurement is to the actual value
- Repeatability: How close a group of measurements are to each other
- High resolution: Desirable for precise velocity control at low speeds and for the highest performance position control
In practice, resolution is limited by the signal to noise ratio (SNR) and digital to analog converter resolution.
basic terminology-degree of freedom of robot
In robotics, degrees of freedom (DoF) refers to the number of independent joints or axes of motion a robot has:
- A robot's DoF defines its motion capabilities, and the more DoF it has, the more flexible and skilled it is.
- A robot with three movable joints has three DoF.
- Each geometric axis a joint can rotate around or extend along counts as a single DoF. For example, a shoulder joint that can move vertically and horizontally provides two DoF.
- The two most common joints are the revolute joint, which provides one degree of rotational freedom, and the prismatic joint, which provides one degree of linear freedom.
- To position an object arbitrarily, a robot needs at least six DoF: three for position and three for orientation.
Specifications of robots
When choosing a robot, you can consider specifications such as:
- Size and weight: The robot's physical dimensions and weight should fit in your existing systems and equipment.
- Payload capacity: The robot's maximum payload capacity is measured in kilograms.
- Repeatability: The robot's ability to return to a previous point.
- Reach: The robot's horizontal and vertical reach determine the scope of its work envelope.
- Number of axes: Most robots have six axes, but some are made with fewer.
- Motion speed: The speed of each robotic axis, measured in degrees per second.
- Motion range: The scope of movement for each robotic axis, measured in degrees.
- Structure: The type of robot, such as articulated, delta, SCARA, or gantry.
- Coordinate systems: The robot can use different coordinate systems like polar, cylindrical, or Cartesian.
- Definition of Forward and Reverse of robot
- Forward and inverse kinematics are two calculations used to move and track a robot's end effector:
- Calculates the position and orientation of the end effector based on the robot's joint and linkage variables. It starts at the base of the robot and works its way to the end effector. Forward kinematics is straightforward but limits dynamic control.
- Calculates the joint and linkage variables needed to achieve a desired end effector position and orientation. It starts with the desired end effector position and works backwards to find the joint angles. Inverse kinematics is complex but essential for precise control.
Understanding forward and inverse kinematics is important for programming robots to work alongside humans. It helps ensure that robots move in a predictable, safe, and intuitive way.
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