Robots
Páginas: 7 (1525 palabras)
Publicado: 23 de junio de 2011
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
EVALUATION OF PRESENT-DAY STATE (LEVEL) OF MOBILE INDUSTRIAL ROBOTS
Alberto Valero VUT Brno 2010-2011
Thursday, 12 May 2011
Vut Brno 2010-2011!
Page 1
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
Introduction
! In this project, I will talk about mobile industrialrobots. I will go through its design,
construction and applications of mobile robots in mechanical productions. ! My labour is only focused in a kind of mobile robot. It is called wheel platform. Later I will
make a description about it. ! I want to go step by step, to make it clearer and easier to be understood.
Vut Brno 2010-2011!
Page 2
Evaluation of present-day state of mobileindustrial robots!
Alberto Valero
Description of Robot and Mobile Robot
! Robot: it is a virtual or mechanical agent. Normally, virtual robots are called bots. For our
issue, we will only talk about mechanical robots. Because of its appearance or its movements, it is said that robots have their own purpose. ! Mobile robot: Inside robotʼs category, we can distinguish between, fixed robotsor mobile robots. There is only one difference between them, mobile robots can move through its environment, and fixed robots just can move some parts, like mobile arms.
Description of Wheels Platforms
! A Wheel Platform is, basically a kind of Mobile Robot consisted in a surface sustained over
a different number of wheels. Wheels Platforms are very popular to be used in many purposes.Later, we will go through those possibilities.
Vut Brno 2010-2011!
Page 3
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
Design and construction
! The robot must successfully traverse through its environment, including grass, potholes, slippery ground,...all while avoiding obstacles. For correct positioning of the robots, the wheels must have good tractionand always keep contact with the floor. Sometimes, it is impossible for humans to be in the same environment as the robot, so we cannot help him to overtake those problematic situations such as rollover or loss of wheel-ground contact. ! ! ! ! ! ! Due to that possible troubles, some robots have a system to avoid rollover Wheels of mobile robots are divided depending on its function as fourdifferent types: · Driving wheel: provides traction force to the robot. · Directive wheel: steering wheels with controllable direction. · Fixed wheels: these only turn around its own axis. · Caster wheels: steering uncontrollable wheels.
Fixed wheel!
!
!
!
Orientable centered wheel
Orientable decentered wheel!
!
!
!
Swedish wheel - omnidirectional wheel
Vut Brno2010-2011!
Page 4
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
! Instantaneous centre of rotation: It is the intersection point of all axis of the wheels. ! Non-holonomic robots: in robotics, holonomicity refers to the relationship between the
controllable and total degrees of freedom of a given robot. If the controllable degrees of freedom is equal to thetotal degrees of freedom thus the robot is said to be holonomic. On the other hand, if the controllable degrees of freedom are less than the total degrees of freedom the robot it is said to be non-holonomic. ! To understand this principle better there is a good example: a car. A car is a typical nonholonomic machine. It has three degrees of freedom, but It has only two controllable degrees of freedom(acceleration / breaking) and the angle of the steering wheels. A carʼs heading (the direction in which the car is going) must remain aligned with the orientation of the car, or 180º if the car in reverse. There is no more allowable directions, considering there is no skidding or sliding.
Materials
! When we build a wheel platform, we seek it to have resistance besides of lightness. Best...
Alberto Valero
EVALUATION OF PRESENT-DAY STATE (LEVEL) OF MOBILE INDUSTRIAL ROBOTS
Alberto Valero VUT Brno 2010-2011
Thursday, 12 May 2011
Vut Brno 2010-2011!
Page 1
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
Introduction
! In this project, I will talk about mobile industrialrobots. I will go through its design,
construction and applications of mobile robots in mechanical productions. ! My labour is only focused in a kind of mobile robot. It is called wheel platform. Later I will
make a description about it. ! I want to go step by step, to make it clearer and easier to be understood.
Vut Brno 2010-2011!
Page 2
Evaluation of present-day state of mobileindustrial robots!
Alberto Valero
Description of Robot and Mobile Robot
! Robot: it is a virtual or mechanical agent. Normally, virtual robots are called bots. For our
issue, we will only talk about mechanical robots. Because of its appearance or its movements, it is said that robots have their own purpose. ! Mobile robot: Inside robotʼs category, we can distinguish between, fixed robotsor mobile robots. There is only one difference between them, mobile robots can move through its environment, and fixed robots just can move some parts, like mobile arms.
Description of Wheels Platforms
! A Wheel Platform is, basically a kind of Mobile Robot consisted in a surface sustained over
a different number of wheels. Wheels Platforms are very popular to be used in many purposes.Later, we will go through those possibilities.
Vut Brno 2010-2011!
Page 3
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
Design and construction
! The robot must successfully traverse through its environment, including grass, potholes, slippery ground,...all while avoiding obstacles. For correct positioning of the robots, the wheels must have good tractionand always keep contact with the floor. Sometimes, it is impossible for humans to be in the same environment as the robot, so we cannot help him to overtake those problematic situations such as rollover or loss of wheel-ground contact. ! ! ! ! ! ! Due to that possible troubles, some robots have a system to avoid rollover Wheels of mobile robots are divided depending on its function as fourdifferent types: · Driving wheel: provides traction force to the robot. · Directive wheel: steering wheels with controllable direction. · Fixed wheels: these only turn around its own axis. · Caster wheels: steering uncontrollable wheels.
Fixed wheel!
!
!
!
Orientable centered wheel
Orientable decentered wheel!
!
!
!
Swedish wheel - omnidirectional wheel
Vut Brno2010-2011!
Page 4
Evaluation of present-day state of mobile industrial robots!
Alberto Valero
! Instantaneous centre of rotation: It is the intersection point of all axis of the wheels. ! Non-holonomic robots: in robotics, holonomicity refers to the relationship between the
controllable and total degrees of freedom of a given robot. If the controllable degrees of freedom is equal to thetotal degrees of freedom thus the robot is said to be holonomic. On the other hand, if the controllable degrees of freedom are less than the total degrees of freedom the robot it is said to be non-holonomic. ! To understand this principle better there is a good example: a car. A car is a typical nonholonomic machine. It has three degrees of freedom, but It has only two controllable degrees of freedom(acceleration / breaking) and the angle of the steering wheels. A carʼs heading (the direction in which the car is going) must remain aligned with the orientation of the car, or 180º if the car in reverse. There is no more allowable directions, considering there is no skidding or sliding.
Materials
! When we build a wheel platform, we seek it to have resistance besides of lightness. Best...
Leer documento completo
Regístrate para leer el documento completo.