Overview
This lecture explains the mechanisms and components of robotic arms, focusing on servo motors, their functionality, benefits, and common applications in automation.
Introduction to Robotic Arms
- Robotic arms are key to the automation revolution and mimic human arm movements.
- Robots can be autonomous, semi-autonomous, or remote-controlled and excel at dirty, dull, or dangerous tasks.
- Robotic arms are programmable manipulators, used in operations like welding and assembly.
Core Components of a Robotic Arm
- Controllers act as the robot's brain, storing programs that govern its actions.
- Arms consist of shoulder, elbow, and wrist joints, providing movement and flexibility.
- End Effectors resemble fingers or claws, performing tasks like gripping and lifting objects.
- Drives are motors located between joints, enabling controlled movement via belts.
- Sensors detect surroundings and help avoid collisions, enhancing safety.
Servo Mechanics in Robotics
- A servomechanism is a feedback-control system used to achieve precise motion.
- Servo systems use multiple servomechanisms coordinated by a computer for complex, repetitive tasks.
- Servos transform rotational motion to precise linear movement through motors, controllers, potentiometers, gears, and output splines.
Working Principle of Servo Motors
- Motion controllers send pulse width modulation (PWM) signals to servos, determining rotation angle.
- Potentiometers track position; servos hold their position until new commands are given.
- Servos move proportionally fast or slow depending on the distance to the target position.
Advantages of Servo Motors in Robotic Arms
- High-torque density enables fast, efficient movements vital for productivity.
- Flexibility allows each joint to move independently, supporting diverse tasks and 6 degrees of motion.
- High-precision control balances speed and accuracy, minimizing errors.
- Programmability allows quick adaptation to new or changing tasks.
- Durability ensures long life spans of up to 35,000 hours with proper maintenance.
- Safety is enhanced through sensors that prevent accidents.
Types of Robotic Arms by Movement
- Cartesian, SCARA, Articulated, Cylindrical, Delta, Polar, and Collaborative robots are common types, each with unique motion capabilities.
Applications of Robot Servo Motors
- Robotics: Used in pick-and-place robots for precise object movement.
- Conveyors: Enable accurate positioning and movement in assembly lines.
- Cameras: Control lens position for automatic focusing.
- Robotic Vehicles: Provide torque and speed control for movement in industrial and military vehicles.
- Solar Tracking Systems: Adjust solar panel alignment for optimal energy capture.
Key Terms & Definitions
- Robotic Arm — A programmable manipulator that performs tasks by mimicking a human arm.
- Controller — The component storing and executing the robot's instructions.
- End Effector — The tool or 'hand' at the end of a robotic arm.
- Servo Motor — A motor providing precise control of angular or linear position.
- Pulse Width Modulation (PWM) — A signal controlling servo motor rotation.
- Potentiometer — A device measuring the position of the servo output.
Action Items / Next Steps
- Review different types of robotic arms and their movement capabilities.
- Study the working and programming of servo motors in more detail.
- Explore real-world examples of robotic arm applications for better understanding.