上海交通大学：《工程学导论》课程教学资源（讲义）Technical knowledge_Robotics

Robotics

Robotics

Contents 1.What is robotics 2.Overview of robotics 3.Components of robots 4.Control 5.Applications

Contents 1. What is robotics 2. Overview of robotics 3. Components of robots 4. Control 5. Applications

1.What is Robotics Robotics is the science and technology of ●Robots Their design Manufacture Application Robotics has connections to ●Electronics ●Mechanics .Software

1.What is Robotics  Robotics is the science and technology of  Robots  Their design  Manufacture  Application  Robotics has connections to  Electronics  Mechanics  Software

2.Overview of robotics Remote manipulators Numerical Control Birth of Industrial Robots

2. Overview of robotics  Remote manipulators  Numerical Control  Birth of Industrial Robots

.Remote manipulators Hazardous environment Human Operator ←→Joystick Manipulator

•Remote manipulators

.Numerical Control Control based on stored data ●1948 US patent 1953 First implementation at MIT

•Numerical Control  Control based on stored data  1948 US patent  1953 First implementation at MIT

.Birth of Industrial Robots 1954 US patent by George C.Devol Part transfer:Teach-in/Playback 1962 First industrial robot developed by Unimation,Inc.,Joe Engelberger 1964 First installation at GM

•Birth of Industrial Robots  1954 US patent by George C. Devol Part transfer: Teach-in/Playback  1962 First industrial robot developed by Unimation, Inc., Joe Engelberger  1964 First installation at GM

3.Components of robots ● Structure ● Actuation ● Manipulation ● Locomotion Human interaction

3. Components of robots  Structure  Actuation  Manipulation  Locomotion  Human interaction

.Structure The structure of a robot is usually mostly mechanical and can be called a kinematic chain -its functionality being similar to the skeleton of the human body

•Structure  The structure of a robot is usually mostly mechanical and can be called a kinematic chain ——its functionality being similar to the skeleton of the human body

.Actuation Actuators are the "muscles"of a robot convert stored energy into movement Most popular actuators are electric motors ●Others: powered by electricity chemicals ● compressed air A robot leg powered by air muscles

•Actuation  Actuators are the "muscles" of a robot  convert stored energy into movement  Most popular actuators are electric motors  Others:  powered by electricity  chemicals  compressed air A robot leg powered by air muscles