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Robotics
study guide
ITE I
The main parts of a robot
A robot has five
main parts:
•Arm
•Controller
•Drive
•End Effector
•Sensor
CONTROLLER
CONTROLLER - Every
robot is connected to a
computer, which keeps
the pieces of the arm
working together. This
computer is known as
the controller. The
controller functions as
the "brain" of the robot.
ARM
ARM - Robot arms
come in all shapes
and sizes. The arm
is the part of the
robot that positions
the end-effector and
sensors to do their
pre-programmed
business.
DRIVE - The drive is
the "engine" that drives
the links (the sections
between the joints into
their desired position.
Without a drive, a robot
would just sit there,
which is not often
helpful. Most drives are
powered by air, water
pressure, or electricity.
END- EFFECTOR - The
end-effector is the "hand"
connected to the robot's
arm. It is often different
from a human hand - it
could be a tool such as a
gripper, a vacuum pump,
tweezers, scalpel,
blowtorch - just about
anything that helps it do
its job. Some robots can
change end-effectors, and
be reprogrammed for a
different set of tasks.
SENSOR - Most robots of
today are nearly deaf and
blind. Sensors can provide
some limited feedback to the
robot so it can do its job.
Compared to the senses and
abilities of even the simplest
living things, robots have a
very long way to go.
D
EGREES OF
Click on the robot's color-coded joints to
see how they move.
FREEDOM
ROTATE BASE OF ARM
PIVOT BASE OF ARM
BEND ELBOW
WRIST UP AND DOWN
WRIST LEFT AND RIGHT
ROTATE WRIST
Some robots have 8, 12, or even 20 degrees of freedom, but
these 6 are enough for most basic tasks. As a result, most
jointed-arm robots in use today have 6 degrees of
freedom.
Work Envelope: the area in which the robot operates.
200 B.C.
The Greek inventor and physicist Ctesibus ('ti
sib ee uhs') of Alexandria designs water
clocks that have movable figures on them.
Water clocks are a big breakthrough for
timepieces. Up until then the Greeks used
hour glasses that had to be turned over after
all the sand ran through. Ctesibus' invention
changed this because it measured time as a
result of the force of water falling through it
at a constant rate. In general, the Greeks
were fascinated with automata of all kinds
often using them in theater productions and
religious ceremonies.
1738
Jacques de Vaucanson begins building automata in
Grenoble, France. He builds three in all. His first
was the flute player that could play twelve songs.
This was closely followed by his second automaton
that played a flute and a drum or tambourine, but by
far his third was the most famous of them all. The
duck was an example of Vaucanson's attempt at
what he called "moving anatomy", or modeling human
or animal anatomy with mechanics." The duck moved,
quacked, flapped it's wings and even ate and
digested food
1822
Charles Babbage demonstrates a
prototype of his "Difference Engine"
to the Royal Astronomical Society. He
continues his work by designing an
even more ambitious project "the
Analytical Engine" that reportedly was
to use punch cards inspired by Joseph
Jacquard's invention. During his
lifetime he never produces a functional
version of either machine. Despite this
shortcoming he is often heralded as
the "Father of the Computer" and his
work lives on as the foundation for the
binary numbering system that is the
basis of modern computers.
1921
Czech writer Karel Capek
introduced the word
"Robot" in his play "R.U.R"
(Rossuum's Universal
Robots). "Robot" in Czech
comes from the word
"robota", meaning
"compulsory labor"
Issac Asimov's most important
contribution to the history of
the robot is the creation of his
Three Laws of Robotics:
1.
A robot may not injure a
human being, or, through
inaction, allow a human
being to come to harm.
2.
A robot must obey the
orders given it by human
beings except where such
orders would conflict with
the First Law.
3.
A robot must protect its
own existence as long as
such protection does not
conflict with the First or
Second Law.
1959
John McCarthy and Marvin Minsky start the Artificial Intelligence
Laboratory at the Massachusetts Institute of Technology (MIT).
1961
Heinrich Ernst develops the MH-1, a computer operated mechanical
hand at MIT.
Artificial intelligence (AI) is a branch of
computer science that deals with intelligent
behavior, learning, and adaptation in machines.
Research in AI is concerned with producing
machines to automate tasks requiring intelligent
behavior
1962
The first industrial arm robot - the Unimate - is
introduced. It is designed to complete repetitive or
dangerous tasks on a General Motors assembly line.
Ninety percent of robots work
in factories, and more than half
are at work making
automobiles.
Sony’s AIBO
Lego Mindstorm
Asimov
The Five Factors to
developing a Humanoid
Robot
•Interaction
•Locomotion
•Navigation
•Manipulation
•Intelligence
Spirit and Opportunity