1st session robista (mechanics)

First Session

Make a move to make it move

Discussion

Time.

Absence.

Communication.

Students.

Game

Robot Evolution

http://www.youtube.com/watch?v=YSdKPxrY_gw

Video

Robots

Robots

Robots

Robot & Structure

Robot & Structure

Robot

Motion Control System

Actuator Power Source Load Power

transmission

Mechanical equations

Types of motion

• Pure Rotational.

• Pure Translational.

• Complex motion

Control Systems

Control system

Fluid power control

Hydraulic system

Pneumatic system

Electrical power control

Electrical System

Solenoids Motors

Solenoids

Motors1. DC motor

Motors1. DC motor

work principle Lorentz force

Motors

2. Stepper Motor.

Motors3. Servo Motor

Applications

DC Motor Servo Motor

Applications

Stepper Motor DC Motor

Applications

Servo Motor

Power transmission ElementsGears. Belts.

Chains

Spur Gear

Gears

Worm and Worm Wheel.

Planetary Gear

Rack and Pinion.

Straight Bevel

•Reliable performance over a wide range of loads and speeds.•Small size and compactness.•Long service life.•High efficiency (96to99%).

Main Advantages

Main Disadvantages

•Change the rotation angle between the input and output.

•Short center distance between the two shafts

Up

Belts Flat belt•Friction.•light-weight drive belts that can handle high speeds.•Substantial Tension.

Belts V-Belt.•suitable for connecting shafts that are close together.•Less tension than flat belt.

Timing Belt

Chain and sprocket

Break

كفاية كفاية كفاية

We need Five victims

Mechanical Analysis

Static analysis Dynamic analysis

Static analysis

Reactions Internal Stresses Deflection

Dynamic analysis

Kinematics

Position

Velocity

Acceleration

Kinetics

Forces

Moments

Types of motion

• Pure Rotational. • Pure Translational.

Complex Motion

•Links •Joints•Actuators•Gripper•Ground

Robot main components

Types of Links

Types of Links (Cont.)

4 bar mechanism

Crank Slider Mechanism

Quick return mechanism

Cams and followers as links

Gears as links “ dependent links”

Gear Train

Compound gear

Joints

Joints Classification

According to.

Geometry

Revolute Helix. Prismatic.,.

Order of Pairs

3D 2D

Revolute joints

Slider and half joints

Terminologies

• Link.• Chain.• Mechanism.• Machine.• Robot.