Showing posts with label robotics. Show all posts
Showing posts with label robotics. Show all posts

Tuesday, October 9, 2012

ROBOTICS: Wheels and Gears


Wheels and Gears
Gears are generally used for one of the ff. Reasons
1.       Transmit torque from one axle to another
2.       To increase/decrease speed of rotation
3.       To reverse the direction of rotation
4.       To move rotational motion to a different axis
5.       To change rotary motion to linear motion
6.       To keep the rotation of 2 axles synchronized

Types of Gear
1.       External vs Internal
2.       Spur
3.       Helical
4.       Double Helical
5.       Bevel
6.       Crown
7.       Hypoid
8.       Worm
9.       Rack and Pinion
10.   Cam
11.   Chains and belts
12.   Ratchet

TYPES
1.       A. Internal Gear
- opposite of external Gear
- the teeth point towards the center
- addendum and dededdum take reverse positions
- provide a compact parallel shaft transmission drive with large speed reduction
- eliminates the use of an idler gear
B. External Gear
- the teeth are formed on the outer surface of a cylinder or cone
2.       Spur Gear
-          “straight-cut” gears
-          Simplest and most common type
-          Whine at high speed
-          Cannot take as much torque
-          For low speed applications
3.       Helical Gears
-          Offer refinement over spur gears
-          The leading edges of the teeth are set as an angle
-           Very similar to spur gears except teeth are not perpendicular to the face
-          Can be used on non-parallel shafts to transmit motion
-          Run quieter and smoother
4.       Double Helical Gears
-          Herringbone gears
-          Resemble 2 helical gears that have been placed side by side
-          Help to avoid issues related to side thrust created with the use of helical gears
5.       Bevel Gears/Miter Gears
-          Axes of the 2 shafts intersect
-          Tooth bearing faces of gears are conically shaped
-          Most often mounted on shafts that are 90 degrees apart
-          The pitch surface is a cone
6.       Crown Gear
-          contrate gear
-          Teeth project  at right angles to the plane of the wheel
-          Teeth resemble the points of the crown
-          Can mesh accurately with a bevel gear
-          Can mesh sometimes with a spur gear
7.       Hypoid Gear
-          Similar in general form to bevel gears
-          Operate on non-intersecting axes
-          Have spiral teeth that are curved & oblique
-          Axes may be at right angles or otherwise
8.       Worm Gears
-          Used to transmit power at 90 degrees
-          High reductions are required
-          Resembles a thread that rides in concaved or helical teeth
9.       Rack and Pinion
-          Rack – straight gear that transmits power and motion in a linear movement
-          Pinion – single gear that meshes with a sliding toothed rack
-          Converts rotary motion to back and forth
10.   Cam
-          Gear not centered on the shaft
-          Used where discontinuous action is required
-          Wheel with shaped bumps on it
-          Connected to rods, levers, or springs
-          Increases horsepower and torque
-          Ideal for heavily modified engines
11.   Chains and Belts
-          Connect two separated wheels so that one turns, the other will turn in the same direction
-          timing belt
-          Part of an internal combustion engine
12.   Ratchet
-          Allows a wheel to turn in only one direction
-          Has specially shaped teeth
-          Pawl – bar on a pivot; fixed above the ratchet wheel. Slides over the ratchet in one direction, but blocks the motion of the teeth.

Thursday, September 6, 2012

ROBOTICS: Robotics History


Robotics 
Where did the word Robot come from?
·         Karel Capek – used the word robot in his play R.U.R (Rossum’s Universal Robot) Robot – forced labor or Serf
What is a robot?
·         Programmable multifunctional manipulator designed to move materials, parts, tool or specialized devices through various programmed motions for the performance of a variety of tasks.
·         Josef Capek – brother, actual inventor of the word robot from the Czech word Robota meaning servitude
What is robotics?
·         The science of studying and creating robots. A very broad and interesting science because of many fascinating aspects like human.
·         A new science

Three Laws of Robotics (Isaac Asimov)
1.       May not injure
2.       Obey
3.        Protect its own existence
4.        Reproduce
5.       Zeroth law – a robot may not injure humanity, or through inaction, allow humanity to come to harm.

Short history of Robotics
270 BC – 1949 Imagining Robots
1950 – 1979 The birth of the industrial robot
1980 – present The robotic age

1921 – Term robot was 1st used in a play called R.U.R.
1941 – Isaac Asimov’s Liar
1942 – Isaac Asimov’s Runaround
1948 – Norbert Wiener’s Cybernetics
1956 – World’s first robot company (Unimation) – George Charles Devol Jr. and Joseph F. Engelberger
1959 – Computer assisted manufacturing (MIT Servomechanisms Lab)
1961 – 1st industrial Robot in New Jersey (Unimate)
1963 – Rancho arm (Rancho Los Amigos Hospital)
1965 – Dendral – 1st expert system program
1968 – Tentacle arm (Marvin Minsky)
1969 – Stanford arm (Victor Scheinman)
1970 – Shakey (SRI International)
1974 – Silver arm
1979 – Stanford Cart
1997 – Sojourner
1998 – Furby (Tiger Electronics)
- Robotics Invention System 1.0
1999 – Robotics Discovery Set, Droid Developer Kit, Robotics Invention System 1.5
- AIBO
2000 – ASIMO
- Robotics Invention System 2.0
2001 – Mindstorms Ultimate Builder’s Set
2006 – Mindstorms NXT platform
2009 – 2.0 version
2012 – NXT Robotics 3.0