Robotics - McGill Universitycim.mcgill.ca/~hamid/Robotics/MECH 573.pdf · zRobotics: a human dream zRobotic evolution zRobot definition • Robot Classification zKinematics zArm configuration

Advance Robotic & Automated Systems (ARAS)Department of Electrical Engineering – K.N.Toosi U. of Tech.

Robotics:Robotics:Evolution, Technology and ApplicationsEvolution, Technology and Applications

By: Prof. Hamid D. Taghirad

Visiting ProfessorCenter for Intelligent MachinesMcGill University

1/3/20061/3/2006 22MECH 573: Mechanics for Robotic SystemsMECH 573: Mechanics for Robotic Systems

By: Prof. Hamid D. TaghiradBy: Prof. Hamid D. Taghirad

OutlineOutline• Introduction

Robotics: a human dreamRobotic evolutionRobot definition

• Robot ClassificationKinematicsArm configuration

End effector

• Robotic ApplicationSpaceIndustrialMedicalParallel Manipulators

• MECH 573 ContentsCourse contentsTextbooksMarking Scheme



IntroductionIntroduction

• Human Dream: Build a human clownHuman Arm Robot manipulatorHuman Leg Mobile robot

Legged robotHuman Eye Machine visionHand-eye task Visual servoingListen and talk Sound recognitionThink and decide Artificial intelligence…




• Dream coming to true starting withRobots as workers: ManipulatorsManipulator Worker arm

• Robot Definition:A motorized computer-controlled machine that

can be programmed to do a variety of tasks especially repeatable and tiresome ones.




• Robot Evolution1921: Robota introduced in Karel Capek theatre, as a slave performing compulsory tasks1962: 1st Generation Robot, Unimation Inc. pneumatically driven1975-1997: 2nd Generation Robot, programmable robots in a well known environment (servo-controlled, PLC)1990- current: 3rd Generation Robot, Intelligent robot in an unstructured environment (Artificial intelligent)




• Why Robots

StrongTirelessAccurate and repeatableWell-immune

Labor saving, improvement of working condition, increasing Labor saving, improvement of working condition, increasing flexibility, productivity, quality, etcflexibility, productivity, quality, etc




• Manipulator componentsArm Links and jointsHand End effectorActuators and driveSensors and transducersComputer and ElectronicsEducation via software



IntroductionIntroduction• Robot Subsystems



Robot ClassificationRobot Classification

• Arm ConfigurationArticulated or serial joint-links



Robot ClassificationRobot Classification• Articulated




• Arm ConfigurationCylindrical Robot




• Cylindrical Robot




• Arm ConfigurationSpherical Robot




• Spherical Robot



Robot ClassificationRobot Classification• Arm Configuration

Cartesian Robot



Robot ClassificationRobot Classification• Cartesian Robot




SCARA Robot



Robot ClassificationRobot Classification• SCARA Robot




Parallel Robot




Parallel Robot




Parallel Robot



Robot ClassificationRobot Classification• End effector









Robotic ApplicationsRobotic Applications• Space Robotics:

International Space Station




International Space Station




Space Station Remote Manipulator System (SSRMS)



Robotic ApplicationsRobotic Applications

• Space Robotics:Special Purpose Dexterous Manipulator (SPDM)




• Industrial ApplicationsGeneral Purpose Manipulators




• Industrial ApplicationsWelding Robots



Robotic ApplicationsRobotic Applications• Industrial Applications

Painting Robots



Robotic ApplicationsRobotic Applications• Industrial Applications

Assembly Robots




• Medical RobotOperating RoomTele-operated SurgeryMicro Surgery



Robotic ApplicationsRobotic Applications• Parallel Robots:

Machine Centers (Variax)

11 µm (volumetric) Accuracy:

630×630×630 mm±25° about A/B-axis

Workspace:

Standard Gough-Stewart platform

Architecture:

5-axis machiningApplication:Giddings & LewisManufacturer:




Milling Machines (Metrom)

15 µm (volumetric) Accuracy:

800×800×500 mm±25° about A axis

Workspace:

a pentapod with variable-length struts

Architecture:

5-side machining Application:METROM Manufacturer:




Flight Simulators (CAE)

950×900×900 mm±30° about A/B/Caxis

Workspace:

Standard Gough-Stewart platform

Architecture:

Flight SimulatorApplication:CAE ElectronicsManufacturer:




6-DOF Statically-Balanced Hybrid Parallel Manipulator




The Agile Eye (a Spherical Parallel Mechanism)











MECH 573: Course ContentMECH 573: Course Content

• Introduction: Robot classificationKinematic chains Grubler criterionLoop mobility criterion Description of position and orientation

•• Rotation matrixRotation matrix•• ScrewScrew--axis representationaxis representation•• Euler angle representations Euler angle representations




• Kinematics: Kinematics analysis of Serial manipulators

•• DenavitDenavit--HartenbergHartenberg conventionconvention•• Forward KinematicsForward Kinematics•• Successive screwsSuccessive screws•• Inverse Kinematics of 6R Manipulator (By Jorge Angeles)Inverse Kinematics of 6R Manipulator (By Jorge Angeles)

Kinematics analysis of parallel manipulators•• Vector loop equationsVector loop equations•• 3RRR manipulator3RRR manipulator•• Spatial orientation manipulator Spatial orientation manipulator •• Stewart Gough manipulatorStewart Gough manipulator




• Jacobian: Angular and linear velocityJacobian matricesSingularity conditions Conventional Jacobians

•• 3RRR manipulator, 3RRR manipulator, •• Spatial orientation manipulatorSpatial orientation manipulator•• Stewart Gough manipulatorStewart Gough manipulator

Screw-based Jacobians




• Stiffness Analysis: Force-moment relationsPrinciple of virtual work

•• 3RRR manipulator3RRR manipulator

Stiffness analysis of parallel manipulators•• Stiffness analysis of StewartStiffness analysis of Stewart--Gough platformGough platform




• Dynamics: Dynamics analysis of parallel manipulatorsNewton-Euler formulation

•• Dynamic analysis of StewartDynamic analysis of Stewart--Gough platform. Gough platform. Principle of virtual work, Lagrange formulation,

•• Dynamic analysis of CKCM Robot. Dynamic analysis of CKCM Robot. General Dynamic equations

•• Properties of dynamics equationsProperties of dynamics equations




• Control: Introduction to control of parallel manipulatorsPosition control topologies

•• Inverse dynamics controlInverse dynamics control•• Robust inverse dynamics control Robust inverse dynamics control

Force control topologies •• Stiffness controlStiffness control•• Direct force controlDirect force control•• Impedance control Impedance control



MECH 573: Course ContentMECH 573: Course Content• Textbooks and References:

Lung-Wen Tsai, “Robot analysis: the mechanics of serial and parallel manipulators”, New York, Wiley, 1999.

(Available at Bookstore)(Available at Bookstore)

Jorge Angeles, “Fundamentals of robotic mechanical systems: theory, methods, and algorithms”, New York, Springer, 2nd edition 2006.

(A printed version can be purchased from Irene)(A printed version can be purchased from Irene)

M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, New York, Wiley, November 2005.

L. Sciavicco, B. Siciliano, “Modelling and Control of Robot Manipulators” , Springer Verlag 2nd ed. 2001

Selected papers.




• Marking Scheme:Assignments: 20%

•• 6 assignments6 assignmentsMid-term Exam: 40%

•• Tentative date 28/02/05Tentative date 28/02/05Term Project: 40%

•• Kinematics and stiffness analysisKinematics and stiffness analysis•• Dynamics analysisDynamics analysis•• ControlControl




Hamid D. Taghirad• Office location:

McConnell Eng. Bldg. Room 423• Office hours:

Tuesday 14:00-15:00• Email:

[email protected]• URL:

http://cim.mcgill.ca/~hamid



Thank You

Documents

Robotics - McGill Universitycim.mcgill.ca/~hamid/Robotics/MECH 573.pdf · zRobotics: a human dream zRobotic evolution zRobot definition • Robot Classification zKinematics zArm configuration