Advanced manual robotics

In this session, we will learn about some of the most commonly used mechanism, such as:

• Motion transfer mechanisms
• Gripping mechanisms
• Shooting mechanisms
• Traversal mechanisms
• Lifting mechanisms

It is mainly used to change the axis of the rotation and is extensively used in gear boxes.

Hydraulic Arm

• A hydraulic actuator can be used to produce mechanical motion (linear,rotatory,oscillatory)
• This is widely used for making robotic arm

Solenoids

• Works on principle of self inductance.
• Ferromagnetic core attracts into the coil center.
• Non ferro nylon end of bar shoots outwards hit the ball

Pneumatic and Hydraulic Arm

Hydraulic System : Force applied by pressurized fluid

Pneumatic system :

based on pneumatic force

Thanks for comming!

Don't miss out the KRAIG 201 for making your very own Line follower bot!

Shooting Mechanism

Water Traversal Mechanism

For Traversing on Water, the most fundamental thing you need to take care of is the weight of the robot. It mustn't be too heavy, and be made such that it's density(average) is less than or equal to that of water.

How is it gonna stay afloat: BUOYANCY!

Actuation of a Water bot can be achieved by the following

• Paddle mechanism
• Propeller Mechanism

Spring Based Mechanism

• A spring is wound up , held and released at certain moment of time

• This system is based on mechanical energy stored in a spring

• Spring Mechanism
• Rack and Pinion Mechanism
• Pneumatic & Hydraulic Systems
• Solenoids

Scissor Lift Mechanism

Stair Climbing Mechanism

The Basic Obstacle in making a stair climbing robot is to ensure there is enough torque and traction to do it. This can be achieved by many mechanisms, two of them being

• Conveyer Belt Mechanism
• Tri Lobe mechanism

A scissor lift is a device used to extend a platform by mechanical means. The term “scissor” comes from the mechanism utilized which is configured with linked, folding supports in a cross ‘X’ pattern. The extension or displacement motion is achieved by applying a force to one of the supports resulting in an elongation of the pattern. The force applied to extend the mechanism may be hydraulic, pneumatic or mechanical.

Rack and Pinion:

• This consists of a pair of actuators and gear which can convert the rotational motion to linear motion and vice versa.

Rocker Bogie Mechanism

The Rocker-Bogie design has no springs and stub axles for each wheel, allowing the rover to climb over obstacles, such as rocks, that are up to twice the wheel’s diameter in size while keeping all six wheels on the ground. As with any suspension system, the tilt stability is limited by the height of the center of gravity. These rockers are connected to each other and the vehicle chassis through a differential. Relative to the chassis, when one rocker goes up, the other goes down. The chassis maintains the average pitch angle of both rockers. One end of a rocker is fitted with a drive wheel and the other end is pivoted to a bogie.

Pneumatic Grippers

Controlled by pneumatic solenoid valve,pressure cylinder.

Gripping Mechanism

Advanced

Manual

Robotics

Types of grippers :

• Single mechanical devices - hooks and scoops
• Mechanical grippers- two or more fingers actuated by the robot controller.
• Vacuum grippers (but uses a lot of power)
• Pneumatic grippers

Simple gripper mechanisms

Forklift Mechanism

Forklift is a small vehicle with two power-operated prongs at the front that can be slid under heavy loads andthen raised for moving and stacking materials in warehouses, shippingdepots, etc.

Motorized Arm Mechanism

• A simple mechanical arm consists of motors depending upon the various degrees of freedom.

• One motor could control the upward and downward movement of arm while other could help in sideways movement of the arm.

Worm Gear

Applications & Uses. A worm gear (or worm drive) is a specific gear composition in which a screw (worm) meshes with a gear/wheel similar to a spur gear. The set-up allows the user to determine rotational speed and also allows for higher torque to be transmitted.