Building Robots Tutorial

1. BUILDING ROBOTS-Lecture
2

2. COMPONENTS OF A ROBOT
 A Robot is mainly made of four basic
components.
Links
Actuators
Sensors
Controllers

3. COMPONENTS OF A ROBOT
 Links
typically rigid bodies
 Actuators
connect and move links
 Sensors
perceiving the world
 Other
endeffectors, communication, etc.

4. PROBLEMS FACED
 Physical limitations
 Sensor technology
Actuator technology
Power consumption
 Design issues
General structure
 mobile, underwater, aerial, fullbody, torso, single arm
 Interaction modality
 facial expression, endeffector type
Level of articulation

5. SENSOR OPTIONS

6. ROTATION SENSING
 Potentiometers
Variable resistors
 optical encoders

7. PASSIVE OPTICAL SENSING
 Light sensor
 Single camera (robot color blob)
 Stereo vision

8. TIME OF FLIGHT RANGING
 Active emission of
infrared
ultrasonic
light arrays
Laser
 Measure distance to closest obstacle by time
for emission to reflect and return to sensor

9. INERTIAL MEASUREMENT
 Gyroscopes
angular velocity
 Accelerometers
gravitational vector
 Magnetometers/compass
magnetic field vector

10. ACTUATOR TYPES
 Electro-magnetic
 Hydraulic
 Pneumatic
 Shape memory alloys
 Piezoelectric
 Photo reactive
 Chemical reactive

11. For more details
www.pantechsolutions.net
http://www.slideshare.net/pantechsolutions
http://www.scribd.com/pantechsolutions
http://www.youtube.com/pantechsolutions