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The slide used in First Workshop for Freshers held on 1.08.2010.
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Welcome To The Introductory First Year
Workshop
www.robotix.in
Robots…
www.robotix.in
Technology Robotix Society was formed in 2001 with the aim of providing education pertaining to the field of Robotics to the students of IIT KGP. They started out by forming K.R.A.I.G. and then, conducting the Robotix fest.
www.robotix.in
Aim Technology Robotix Society, TRS is a society dedicated to the advancement of robotics in IIT Kharagpur and beyond. We are a society that boasts of a dedicated team which works extensively in these disciplines and helps spread it in form of intra and inter collegiate workshops. TRS is expanding its vistas with many more external workshops all over India, which have met with phenomenal response in the past. We continue to strive for excellence in this pursuit of spreading robotics and paving the way for world class robotics R&D in India.www.robotix.in
ROBOTIX 2007Over 1500 Participants 546 Teams International
Participation Online Submission
from Universities like Princeton, Stanford
www.robotix.in
ROBOTIX 2008
Over 3750 Participants1060 Teams63 Colleges
www.robotix.in
ROBOTIX 2009
◦ Over 3000 Participants◦ 900+ Teams◦ First outdoor autonomous
event in India◦ First event based on Microsoft
Robotics Studio platform.
www.robotix.in
ROBOTIX 2010◦ A golden decade of ROBOTIX completed.
◦ 8MileX continues with a grander challenge.
◦First ever underwater Robotics event in India.
◦Dynamic problem statement introduced in TribotX.
◦Manual and Autonomous Robotics
combined in Xtension.
www.robotix.in
At a glance…
www.robotix.in
At a glance…
www.robotix.in
At a glance…
www.robotix.in
At a glance…
www.robotix.in
New Frontiers In Robotics• Aerial Robotics
• Underwater Exploration
www.robotix.in
• Machine Vision / Image Processing
•Bio-mimicry
www.robotix.in
Kharagpur Robotics and Artificial Intelligence Group
www.robotix.in
K.R.A.I.GThe Kharagpur Robotics and Artificial
Intelligence Group is the premier group which looks after the development of studies related to robotics in IIT Kharagpur.
www.robotix.in
K.R.A.I.G Projects UndertakenK.R.A.I.G Projects Undertaken•Autonomous Ground Vehicle For Low Intensity
Conflict
•Biped - KEB 1.0
•SkeLKeT - Quadraped
•Virtual Eye - Ultrasonic Mapping
•8Mile
•Autonomous Car Parking
• Maze Solution using Path Planning
Simulation
• Tele-Robotics
• Micromouse
• Soccer Bots
• Microsoft Robotics Studio
Applications
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Events 2011R.A.F.T.Pirate BayBallistaThe FugitivesRoboCopThe Negotiators
www.robotix.in
Robocup is a premier organization which aims to build a team of Robots so that “By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup.”
The organizations hold League matches in various countries and the RoboCup World Championship.
www.robocup.in
Part I : Basic Machine
Copyright © Robotix Team, IIT Kharagpur
Basic Parts Of A Mobile RobotLocomotion systemPower supply systemActuatorsSensory devices for feedbackSensor Data processing unitControl system
Copyright © Robotix Team, IIT Kharagpur
Locomotion SystemAs the name suggests a mobile robot must
have a system to make it moveThis system gives our machine the ability to
move forward, backward and take turnsIt may also provide for climbing up and down
Copyright © Robotix Team, IIT Kharagpur
Locomotion SystemThe 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
Copyright © Robotix Team, IIT Kharagpur
Power, Torque and SpeedA simple equation: Power is the product of
Torque and Angular velocityP = ζ X ωThis implies that if we want more torque
(pulling capacity) from the same motor we may have to sacrifice speed and vice versa
Copyright © Robotix Team, IIT Kharagpur
Another Simple RelationThe DC motors available have very high
speed of rotation which is generally not needed. But what they lack is torque output.
For reduction in speed and increase in pulling capacity we use pulley or gear systems
These are governed by: ω1 X r1 = ω2 X r2
Copyright © Robotix Team, IIT Kharagpur
Wheeled Locomotion SystemsDifferential driveCar type driveSkid steer driveArticulated driveSynchronous drivePivot driveDual differential drive
Copyright © Robotix Team, IIT Kharagpur
Differential DriveMost commonly used Simplest and easiest to implement It has a free moving wheel in the front
accompanied with a left and right wheelThe two wheels are separately poweredWhen 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
Copyright © Robotix Team, IIT Kharagpur
Differential Drive Cont…
Black arrows denote the direction of wheel. The green ones show robot movement
Copyright © Robotix Team, IIT Kharagpur
Differential Drive Cont… In-place (zero turning radius) rotation is done
by turning the drive wheels at the same rate in the opposite direction
Arbitrary motion paths can be implemented by dynamically modifying the angular velocity and/or direction of the drive wheels
Total of two motors are required, both of them are responsible for translation and rotational motion
Copyright © Robotix Team, IIT Kharagpur
Differential Drive An Analysis
Simplicity and ease of use makes it the most preferred system by beginners
Independent drives makes it difficult for straight line motion. The differences in motors and frictional profile of the two wheels cause them to move with slight turning effect
The above drawback must be countered with appropriate feedback system. Suitable for human controlled remote robots
Copyright © Robotix Team, IIT Kharagpur
Car Type Drive
Copyright © Robotix Team, IIT Kharagpur
Skid Steer Drive
Copyright © Robotix Team, IIT Kharagpur
Articulated Drive
Copyright © Robotix Team, IIT Kharagpur
Synchronous Drive
Copyright © Robotix Team, IIT Kharagpur
Pivot Drive
Copyright © Robotix Team, IIT Kharagpur
Power Supply SystemSuitable power source is needed to run the
robotsMobile robots are most suitably powered by
batteriesThe weight and energy capacity of the
batteries may become the determinative factor of its performance
Using Pulleys
r1
r2
ω1 ω2
MotorWheel
ω1r1 = ω2r2 => ω2 = ω1r1 / r2
τ1ω1 = τ2ω2 => τ2 = τ1ω1 / ω2 => τ2 = τ1r2 / r1
Thus we get reduction in speed and increased torque. Hence our machine is able to cross over obstacles easily and also pull more load
Belt
Belt
Multi Pulley SystemsMotor WheelIntermediate Pulley
ω1 ω2
ω3
ω1r1 = ω3r2 => ω3 = ω1r1 / r2
τ1ω1 = τ3ω3 => τ3 = τ1ω1 / ω3 => τ3 = τ1r2 / r1
ω3r1 = ω2r2 => ω2 = ω3r1 / r2
τ2ω2 = τ3ω3 => τ2 = τ3ω3 / ω2 => τ2 = τ3r2 / r1 => τ2 = τ1r22 / r1
2 Hence for n pulley system => τ2 = τ1r2
n / r1
n
r1
r2
r2
r1
Features of Pulley SystemSimple and easy to useFlexible rubber belts make the job easierMaximum torque restricted by friction limitsVery high torque system cannot be achieved
www.robotix.in
Be there :
Venue : Kalidas Auditorium, Ramanujam ComplexDate : 8th AugustTime : 5:30 pm
For another exciting foray into ROBOTICS!
Visit : www.robotix.in
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