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Manual Robotics 1
Manual Robotics 1
MANUAL ROBOTICS
Presented By
Basic Parts
Controllers
(Switches, PC, PLC,
µP, µC)
Mechanical
Sensors system
• Readymade chassis like this that are available in the market are
really good, cheap and for all you know they might have been
subjected to a R&D before fabrication
• PLASTICS
Cheap, Easy to cut and drill
• METAL
Very Strong, Durable, Hard to Cut And Shape
• FIBRE GLASS
Very Strong, Rigid, Waterproof, Used to Create Specific
Shapes
Wheeled Locomotion Systems
Differential drive
Synchronous drive
Wheeled Locomotion Systems:
Differential Drive
Wheeled Locomotion Systems:
Car Type Drive
Wheeled Locomotion Systems:
Synchronous Drive
Different Types Of Wheels
Different Types of Wheels
Standard Wheels ●
Used in general purpose robotics.
Omni Wheels ●
For Bidirectional movements any time
Mecanum Wheels ●
Used to move in 2D plane independently.
●
Specialized tracks for movement in all terrain
Tank Tracks environment.
Castor Wheels ●
To enable the object to roll in any direction
Different Types of Wheels
Omni Wheel
Standard Wheel
Castor Wheels
Tank Track
Mecanum Wheel
Gears, Spurs and Pinions
Plastic Gears
Gear Train
POWER SYSTEM
Power Supply System
The weight and energy capacity of the batteries may become the
determinative factor of its performance.
Power Supply System
Nickel Cadmium
Battery
Lithium Polymer
Battery
NiMH
Battery
Types of Non - Rechargeable Batteries
1) Hydraulic
2) Pneumatic
3) Electrical
4) Magnetic
5) Mechanical
Hydraulic Actuator
A hydraulic actuator consists of a cylinder or fluid motor that uses
hydraulic power to facilitate mechanical operation
Stepper Motors ●
For controlled rotation
D.C. Motors ●
Finds extensive general use
Brushless DC Motor ●
Widely used in aerial crafts like quadcopter.
Servo Motors ●
DC motor with in built feedback & error compensation
D.C. Motors
D.C. Motors
Controllable speed.
D.C. Motors
Let's start by looking at the overall plan of a simple two-pole DC electric motor.
A simple motor has six parts, as shown in the diagram below: Armature or rotor,
Commutator , Brushes, Axle, Field magnet, DC power supply of some sort.
D.C. Motors
Just as the rotor reaches alignment, the brushes move across the commutator
contacts and energize the next winding. In the animation the commutator
contacts are brown and the brushes are dark grey. A yellow spark shows when the
brushes switch to the next winding.
D.C. Motor: Characteristics
S1 S2
M
__ 1 2 __
S1 S2
S1 S2 S3 S4
M M
__ 1 2 __ __ 1 2 __
S1 S2 S3 S4
D.C. Motor with Gear Box
Stepper Motors
Stepper Motor
The motor has full torque at standstill (if the windings are energized)
Very reliable since there are no contact brushes in the motor. The motors
response to digital input pulses provides open-loop control, making the
motor simpler and less costly to control.
Stepper Motor Disadvantages
Most servo motors can rotate about 90 to 180 degrees. Some rotate
through a full 360 degrees.
A brushless dc motor has a rotor with permanent magnets and a stator with
windings. It is essentially a dc motor turned inside out. The control electronics
replace the function of the commutator and energize the proper winding.
Brushless DC Motor
Extensively used in radio controlled vehicles due to its high power and small
size.
Brushless DC motor have significant advantage like longer life and efficiency
compared to Stepper or normal DC motor.
Drones and RC Planes using BLDC motor can have thrust to weight ratio even
above 1.5:1.
1 6
2 5
4
3
+ -
D.P.D.T. (Double Pole Double Throw)
+ -
M
1 6
2 5
4
3
+ -
D.P.D.T. (Double Pole Double Throw)
+ -
M
1 6
2 5
4
3
+ -
D.P.D.T. (Double Pole Double Throw)
+ -
M
1 6
2 5
4
3
+ -
Hands On Steps
Mounting MOTORS on the vehicle