Robotics: Main Components and Systems

• A robot is made up of different parts that work together as a system.

Main Robot Components

• Manipulator (or Rover): The arm or moving part of the robot.
• End Effectors: The tool at the end of the robot's arm (e.g., grippers, welding tools).
• Actuators: The motors that make the robot move.
• Sensors: Devices that help the robot sense its surroundings (e.g., cameras, touch sensors).
• Controller: The "brain" that processes commands and controls movements, often involving AI and IoT.
• Processor: A computer chip that helps the robot think and make decisions.
• Software: The programming that tells the robot what to do.
• Actuators connect to Controller and Power Unit.
• Sensors connect to Controller.
• End Effector connects to Actuators.
• Communicating Unit connects to Controller.
• The manipulator is like an arm.
• The end effectors are like hands.
• Sensors work like our eyes and ears.
• The controller is like the brain.

Manipulator

• The manipulator is the main body of a robot
• Consists of Links (rigid connecting parts), Joints (moving parts for flexibility), and Structural elements (framework).
• Links are like bones.
• Joints are like your elbow and wrist.
• Structural elements keep everything stable.

End Effectors

• An End Effector is the part of a robot that connects to the last joint (hand) of a manipulator.
• End Effectors perform specific tasks like gripping, welding, or assembling.
• It's Controlled by the robot's controller.
• Communicates with external control devices like PLC (Programmable Logic Controller) for automation.
• Think of end effector as the tools people use, where specific tasks require specific end effectors.

Actuators

• Actuators are like the muscles of a robot.
• They help the robot move, lift, grab, or rotate by using different types of power.
• Servomotors: Move precisely with low power. Used in robot arms and legs.
• Stepper Motors: Rotate in small steps, good for precise movements (like 3D printers).
• Pneumatic Cylinders: Use air or gas to push or pull parts. Found in factory robots.
• Hydraulic Cylinders: Use liquids (like water or oil) for strong movements. Used in big machines.

Sensing

• Sensing means gathering information from the world.
• A sensor is a device that detects things like light, temperature, movement, and turns them into numbers.
• Sensors work by changing energy from one form to another (transduction principle).

Human Senses and Robotic Counterparts

• Vision: Uses a camera, LiDAR, or Infrared Sensor to capture images, detect light, and measure depth.
• Hearing: Uses a Microphone or Sound Sensor to detect and process sound or voice commands.
• Touch: Uses a Touch Sensor or Pressure Sensor to detect physical contact, pressure, and force.
• Smell: Uses a Gas Sensor or Chemical Sensor to identify gases, chemicals, or air quality.
• Taste: Uses a pH Sensor or Chemical Sensor to analyze liquid properties like acidity.

Robots - Sensors and Controllers

• Sensors gather information about the world around the robot to help it see, hear, and feel things.
• Examples of sensors include cameras (for vision), microphones (for sound), and touch sensors.
• The controller acts like the brain of the robot.
• The controller receives data from the sensors and tells the robot how to move.
• It controls movement, like speed and direction.
• Sensors collect information, and the controller decides what to do.

Robots - Processor and Software

• The processor is like the brain of the robot.
• It's usually a computer that helps the robot calculate movements.
• Software is required for the robot to function properly
• Operating System: Like Windows or Linux but for robots.
• Robotic Software: Helps the robot move correctly using math.
• Special Programs: For specific tasks like vision or sensors.

Robot Joints

• Robot joints help robots move, just like our body joints.
• Prismatic (P) joints move in a straight line and can move up/down or left/right like an elevator.
• Example: a robotic arm moving up and down.
• Revolute (R) joints rotate around a point like a wheel on a bike.
• Example: a robot's arm rotating to pick up an object.
• Spherical joints move in all directions and can rotate freely like a ball-and-socket joint.
• Example: a robot's head turning in all directions.
• These joints help robots grab things, move, and work in factories, hospitals, and even space.

Robot Reference Frames

• Reference frames help locate and move robots correctly with the following types:
• World Reference Frame
  • Global GPS for robots
  • Based on (x, y, z) axes (up/down, left/right, forward/backward).
  • All robot parts move together, no matter where they are.
  • Helps define the robot's position compared to other objects.
  • Used in factories, space robots, and autonomous cars to know where they are and how to move!
• Joint Reference Frame
  • Focuses on individual joint movements in a robot.
  • Each joint moves separately, one at a time
  • The movement depends on the type of joint (e.g., a revolute joint moves in a circle).
  • Used for precise control of robotic arms, legs, or fingers.
  • Helps robots move smoothly in industrial work, surgery, and space missions!
• Tool Reference Frame
  • About how a tool moves when attached to a robot's hand.
  • Tool follows the movement of the robot's hand.
  • The tool moves together with the robot.
  • Useful for tasks like assembling parts.
  • Helps the robot use tools correctly in jobs like painting cars.