15-06-2012, 05:34 PM
Mobile Robotics
Mobile Robotics.ppt (Size: 949.5 KB / Downloads: 50)
What Is “Robotics” ?
The word robotics is used to collectively define a field in engineering that covers the mimicking of various human characteristics.
It may be human controlled or automatic.
It must be able to perform certain tasks we set for it.
The desired task must be achieved within some given limitations.
Examples: Automatic Toy Car
Mobile Sweeper Machine
Machines removing mines
Escape Robot
Solar Beam Robot
Locomotion System
As the name suggests a mobile robot must have a system to make it move
This system gives our machine the ability to move forward, backward and take turns
It may also provide for climbing up and down
The concept of locomotion invariably needs rotational motion e.g. a wheel driven by some power source
This involves conversion of electrical energy into mechanical energy, which we can easily achieve using electrical motors
The issue is to control these motors to give the required speed and torque
Differential Drive
It has a free moving wheel in the front accompanied with a left and right wheel.The two wheels are separately powered
When the wheels move in the same direction the machine moves in that direction. Turning is achieved by making the wheels oppose each other’s motion, thus generating a couple
Skid Steer Drive
A close relative of the differential drive system
It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots
The left and right wheels are driven independently
Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground.
Synchronous Drive
As the name suggests, it uses synchronous rotation of its wheels to achieve motion & turns
It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion
The two sets can be directly mechanically coupled as they always move in the same direction with same speed.
Mobile Robotics.ppt (Size: 949.5 KB / Downloads: 50)
What Is “Robotics” ?
The word robotics is used to collectively define a field in engineering that covers the mimicking of various human characteristics.
It may be human controlled or automatic.
It must be able to perform certain tasks we set for it.
The desired task must be achieved within some given limitations.
Examples: Automatic Toy Car
Mobile Sweeper Machine
Machines removing mines
Escape Robot
Solar Beam Robot
Locomotion System
As the name suggests a mobile robot must have a system to make it move
This system gives our machine the ability to move forward, backward and take turns
It may also provide for climbing up and down
The concept of locomotion invariably needs rotational motion e.g. a wheel driven by some power source
This involves conversion of electrical energy into mechanical energy, which we can easily achieve using electrical motors
The issue is to control these motors to give the required speed and torque
Differential Drive
It has a free moving wheel in the front accompanied with a left and right wheel.The two wheels are separately powered
When the wheels move in the same direction the machine moves in that direction. Turning is achieved by making the wheels oppose each other’s motion, thus generating a couple
Skid Steer Drive
A close relative of the differential drive system
It is mostly used in tracked machines e.g. tanks. Also finds application in some four / six wheeled robots
The left and right wheels are driven independently
Steering is accomplished by actuating each side at a different rate or in a different direction, causing the wheels or tracks to slip, or skid, on the ground.
Synchronous Drive
As the name suggests, it uses synchronous rotation of its wheels to achieve motion & turns
It is made up of a system of motors. One set of which drive the wheels and the other set turns the wheels in a synchronous fashion
The two sets can be directly mechanically coupled as they always move in the same direction with same speed.