UD 7 ROBOTICS 4ºESO eng 15 16

Texto completo

(1)robotics Luis García Molina. I.E.S. Serra Perenxisa (Torrente). 1.

(2) obo. index. 0. i nt r oduct i on I - what. i s a r obot ?. I I - t ypes of r obot s I I I - r obot appl i cat i ons I V- sensor syst em V. I nt el i genci a ar t i f i ci al . 2.

(3) ACTI VI TY: Do you know what t ype of r obot s ar e t hese ?. blogs.imediaconnection.com. thetechpaper.wordpress.com. roboticaindustrial.weebly.com. blog.toyotacanarias.es xn--naturaespaol-jhb.es. ecodiario.eleconomista.es. www.tuinen.es. www.fnac.es. 4. apod.nasa.gov www.tecnoupdate.com.ar. www.taringa.net.

(4) ACTIVITY.. o. i nt r oduct i on. A). Think about the robots you know.. A). How would you define a robot?. A). What components do they are composed of? Which ones are the key parts to be a robot?. A). What components do distinguish your robot from a vending machine?. 3.

(5) obo. I-what is a robot ?. 5.

(6) What i s a r obot Machines can be classified by their degree of automation: 1-tool: is a simple device that requires the handling and strength of a man for making its task. 2-machine: It is a tool powered by an engine. It is still governed by an operator. Its schema will be “motor-mechanisms-actuator(tool)”.. 3-automatism: It is a machine (engine-mechanisms-receptor) prepared mechanically to run itself (automatically). It makes only ONE TASK. 4-autommatism with a sensor: It is an automatism that make ONE TASK, but it has additionally a sensor that detects environmental parameters. The automatism with sensor turns on/off according to these parameters. It should have a simple, non programable controller. 5-ROBOT: Automatism with a sensor MULTIFINCTIONAL: it additionally has a programable controller. This let the machine to perform different tasks according to a program which can be changed. 6.

(7) The r obot t ool. 2. 1 Human st r enght. 3 simple controller (1 complex task, but not programmable). Human st r enght. M. mechanisms. M. mechanisms ( Mor e . . .). t ool. Machi ne: Power ed t ool. Aut omat i sm: Aut omat i c machi ne ( wi t h si mpl e cont r ol l er ) 7.

(8) The r obot t ool. 4. simple controller (1 complex task, but not programmable). M. 5 PROGRAMMABLE CONTROLLER. sensor. mechanisms. Aut omat i sm wi t h sensor ( and si mpl e cont r ol l er ). PROGRAM!. M. sensor. mechanisms. ROBOT: Aut omat i sm wi t h sensor and pr ogr ammabl e cont r ol l er and sever al mov ement s .. Sever al movement s. 8.

(9) what i s a r obot So we can define ROBOT (Def.) as: Automatic machine with sensors, multifunctional and reprogrammable with several movements capacity. COMPONENTS: • As automatic machine features: – Engine: Movement generator. – Mechanisms: The parts of a machine that transmit the movement from the engine to the actuator. – Actuators: are the final elements with which the action is performed motors, valves, screens ...) •. As automatic machine with sensors it is also available: – Sensors: devices that produce a different response based on changes in the physical environment.. •. As a reprogrammable multifunctional also provides: – Controller: device that receives and processes the sensor information and sends a response to the actuators according to an internal program. Microcontrollers are internal or external computers. – Programs: set of instructions that a machine has to follow, stored in the controller.. 9.

(10) Anal ysi s So the word "robot" points out an universal mechanical machine that is able to adapt, like man, to many different types of actions. Thus, a robot is able to develop different movements, actions and tasks according to a program that takes into account the changeable environmental conditions. This makes we can call them “smart” or “intelligent” devices. Robots are able of working in general industrial processes at factories or at home, just replacing people or for specific new purposes. ROBOTICS is the discipline that designs, manufactures and uses robots. Therefore in a robot: -IT IS NOT NECESSARY TO emulate the way human or animal. - IT IS NOT NECESSARY TO have organic components. - IT IS NOT NECESSARY TO deal only with human tasks. - IT IS NOT NECESSARY TO emulate human intelligence (We can reach the objective using different ways of “thinking”) .. ACTITITY: Are these machines robots? Why? 10. fasane.wordpress.com. ymercy.com.

(11) •. r obot : gener al di agr am Her e i s t he gener al di agr am of a r obot . sensor Cont r ol l er wi t h pr ogr am. ENGI NE. Mechani sm. ACTUATOR. OBJECT AND ENVI RONMENT PARAMETER. ENVI RONMENT OR PROCESS -0. We place the robot in an environment, a process witth its temperature, humidity, objects ... -1. The robot's sensors measure a physical quantity in the environment. The data is fed to the controller, -2. The controller is programed, contains a program (a set of instructions to do a task) accordin g to several conditions) . The controller outputs a final nstruction signal for the engine. -3. That signal appropriatelly active or not the engine. jThe engine moves the actuators or the robot through the mechanisms. -4 Robot actuators move the objetct and affect he environment. -5. The sensor measures the changes and the cycle repeats. 11.

(12) obo. II. types of robot. 12.

(13) Types of r obot s. o. The gener al di agr am can speci f y speci f i c cases such as: •. 1- Obj ect handl er . s ens or Cont r ol l er ENGI NE wi t h pr ogr am. Mechani sm. act uat or. OBJECT. sensor. Cont r ol l er wi t h pr ogr am. ENGI NE act uat or mechani sm. OBJECT 13.

(14) •. Aut omat i c 2- vehi cl e wi ch doesn´ t cr ash sensor Cont r ol l er ENGI NE wi t h pr ogr am. act uat or mechani sm MOTOR 2 Cont r ol l er wi t h pr ogr am. Mechani sm. act uat or. o. Types of r obot s. OBJECT. sensor. OBJECT. MOTOR 1 mechani sm act uat or 14. TI VI TY Copy t he di agr ams at your not ebook and j oi n t he cor r el at ed par t s usi n.

(15) •. ACTI VI TY: I dent i f y t he par t s of t he gener al di agr am of a r obot i n t hese r obot s:. ingenieriatecnoindustrial.blogspot.com. www.cesped.tv www.fierasdelaingenieria.com. travelreportmx.com. thefutureofthings.com clubdeamigosdelaciencia.org. infoweb5.wordpress.com nerdgasmo.com. 15 www.revistaproware.com.

(16) obo. III. Robot design 16.

(17) Desi gn of r obot ar ms •. A r obot ar m can be consi der ed a ki nemat i c chai n f or med by a set of l i nks uni t ed i n mobi l e l i nks ( j oi nt s). •. The degr ees of f r eedom of a r obot ar e t he number of possi bl e moves you can make a r obot .. Di f f er ent t ypes of j oi nt s of a r obot : a) l i near , b) r ot at i onal. Thi s r obot ar m woul d have si x degr ees of f r eedom. Imagenes: platea.pntic.mec.es. 17.

(18) Mobi l e r obot desi gn A mobile robot can be considered basically as a vehicle. What should be taken into account here is the form of displacement, according to the environment where they have to move.. LAND . types: > 3 wheel > 4 wheels > track > legs > snake. AQUATIC types > rudder propeller > fish. AIR types: > helicopter > prop plane > jet / rocket. • Basic designs:  Differential motion: Each of two wheels rotate independently moved by its own engine.  Synchronized motion: the wheels change direction at a time. • Degrees of freedom: In this case consists in the number of variables defining its movement. For example, its movement on a flat surface would be defined by -its current position (x, y) -its direction vector (angle alpha). a n d. angl e. x. 18.

(19) obo. III. applications of robotics 20.

(20) appl i cat i ons •. • • •. • • • •. Industry: – Transport of objects and materials. – Loading and unloading of materials and objects to machines – Point and arc welding. – Spray painting. – Creation and manipulation of parts cutting, drilling, riveting ... Laboratories – Typical laboratory procedures tube placement, measurements ... Agriculture – Robot milking, shearing ... – Tractoresrobot automatic ... Aggressive environments (Disasters, bombs, space, underwater) ... – Robots to explore, measure ... – Robots to repair ... – Robots for bomb .... Transport. – Autopilots robotic vehicles. Home – Appliances (dishwasher, washing temp sensing, load ..) – Robotic vacuum cleaners. Human Relations – Robots to the public – Robots guides Leisure Pet Robots 21.

(21) cur r ent r esear ch i n r obot i cs •. It is now moving in: – Robots Androids: the Honda ASIMO P3. – Robots with emotional expressions: the IT. – Robots with several senses: COG – Space robots: Sojourner, Mars ... – Robots for cars and traffic: Anzen, TARO – Robots pet: Aiboo, Sony. – Military vehicles, robot: the CYPHER helicopter.. •. JOINT ROBOTS. – In robotics robots collective groups limited intelligence carried on the whole complex, – In cooperative robotics also communicate with each other. – In mobile robotics and fractal several independent robots combine to form a larger robot.. •. BIOMECHANICS – They emulate the displacement systems of living things (insects, spiders, snakes, 22 quadrupeds ...).

(22) I . A: appl i cat i ons The ARTIFICIAL INTELLIGENCE is the part of computer science / robotics dedicated to making computers / robots to perform certain tasks that require similar skills or human brain. APPLICATIONS – In robotics the I.A serves to: intelligent robots, emotional, interactive ... – Mathematics: geometry, logic, integral calculus, theorem proving ... – Computational linguistics and processing language natural (NLP) – Data Mining (Extraction of data sought in very great databases with intelligent criteria) – Systems Decision Support (DSS) – 3D virtual worlds. – Expert systems: • Engineering and architecture: structural design programs. • Manufacturing planning. • Medical diagnosis. • Financial analysis. • Scientific analysis. • Fault detection. – Games and video games: chess, checkers, backgammon, go, three-in-line. 26.

(23) 27. obo.

(24)