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Introduction to Robotics & Intelligent Systems

# Definition of a Robot: It is a machine which performs a variety of tasks, either using manual external control or intelligent automation. Robot and Robotics technologies represented practical applications of physics, computer science, engineering and mathematics. An electrical or mechanical or electromechanical, programmable or non programmable multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks # What qualifies a machine as an Autonomous Robot? Mobility: It possesses some form of mobility. Programmability: It can be programmed to accomplish a large variety of tasks. After being programmed, it operates automatically. Sensors: On or around the device that are able to sense the environment and give useful feedback to the device. Mechanical capability: Enabling it to act on its environment rather than merely function as a data processing or computational device (a robot is a machine); and Flexibility: It can operate using a range of programs and manipulates in a variety of ways.
Autobotz Robotics Club A.S.E.T., NOIDA Abhinav Saxena M-Tech (EST), 2nd year

# What is Robotics? It is a field of science concerned with creating machines (robots) that can move and react to sensory inputs. Robotics is not just related to any one branch of engineering. It is done with the involvement of: Mechanical engineering: To form the structures or mechanisms to perform different tasks. And to generate motion required for the locomotion. Electronics engineering: To make the circuitry to control the power supplied to different parts and to make motors and other devices work. Computer science engineering: It has its use in the field of programming in autonomous robotics (in which robot functions on its own, without the assistance of any human being).

# Types Of Robots? Manual Robot. Autonomous Robot. Manual Robotics is the one in which the human controls the robot using a joystick or switches. Autonomous robotics, there is no human intervention while the robot performs a specific task. It is coded and programmed to do a specific task only.

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

What constitutes a robot? Locomotion System Power Supply Actuators Sensory devices for feedback. Sensor Data Processing unit Control System Locomotion System: It helps our robot to move forward, backward and to take turns. Power supply System: It is the system which supplies power to the motors and other electronic devices fitted on the robot. Actuators: These are used to provide motion. They convert the electrical energy into meaningful mechanical work. Mechanical output can be rotational or linear (straight line). Motors provide rotational motion. Electromagnets provide linear motion. Sensory devices for feedback: Sensory devices are the sensors. A sensor is a type of transducer. A Transducer is a device (usually, electrical, electronic, or electromechanical), that converts one type of energy to another for various purposes including measurement or information transfer. Sensor Data processing unit: It processes the signal or data provided by the sensors into a form which can be used by the control system.

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

Control system: These are the microcontrollers/processors which guide the system to perform the desired work. These are the part of autonomous systems.

# How to build a Simple Robot? Lots of people want to build a simple robot, but they dont know where to start. So, we thought why not take this initiative of providing tutorials for beginners? Once you are through the first few levels, you get a knack of it and start liking it. So, the key is keeping it really simple in the first few levels. Manual robotics doesnt have an upper limit to it, because you can build more and more intricate mechanisms. Here, in the tutorial, we would get you closer to the manual robotics domain so that you can fulfill one of your long overdue wishes: Making a simple robot. Now, in most of the websites, they write a lot of unnecessary stuff before actually coming to the main point. We know it is irritating, so lets say that we will strike with a simple robotics problem itself. Suppose we want to build a racing robot? First you would need to decide what kind of material who would be using for the platform/chassis of the robot. It basically means the part on which you would be mounting motors and supporting the mechanisms. You can use wood, aluminum, fiber glass for a small base. Cut out a piece of wood of around 25 cm by 25 cm using a hacksaw and keep it separate. Then, comes mounting the motors. We would suggest that you use two 100 rpm motors with gearbox for making this robot. Make sure that the rpm of both the motors is same. Below is an image of 100 rpm motors.

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

The motors should be clamped to the base using U-Clamps or Saddle Clamps. The figure is shown below.

Attach the motors using the U clamps to the wooden base. Drill holes into the base and keep the motors with the motor shaft on the outside of the base. Then attach wheels to the motor shafts and make sure that you dont attach the wheel to the shaft using adhesives like Fewi kwik. Attach it by using allen screws or any type of screw. It would be best if you attach the motor shafts to the wheels using flanges. If you want to make a speedy robot, then a wheel of a relatively large diameter should be used. This is because the motor gives a fixed rpm and to increase the linear speed, we need to increase the diameter. Since v=*r, where = angular velocity (rpm), v = linear velocity and r = radius.
Autobotz Robotics Club A.S.E.T., NOIDA Abhinav Saxena M-Tech (EST), 2nd year

So, to increase v, we need to increase r because is constant for a particular rpm motor. A figure of wheels is shown below and the next figure shows a description of how the motor with the wheel and the saddle clamp would look. You have fix motor and wheels like this,

Now, in most cases, we go for a differential drive mechanism for locomotion. A differential drive mechanism basically means two motors with wheels at the back and a single caster in the front. Fix the caster in the front at the middle of both the motors.

The ball of the ball castor should be resting on the ground with the top fixed to the wooden base. A simple chassis is now made with wheels attached to motor at the back and a ball castor in the front.

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

# Coupling motors and wheels # Remote DesigningBefore designing remote we have to learn basic movement of robot which is shown in following table. Movements For moving forward Motor1 (left) Motor2(right) Clockwise Clockwise

For moving backward Anticlockwise Anticlockwise For turning left For turning right Off Clockwise Clockwise Off

To make anti-clockwise motion of motor, the polarity of supply must be inverted of polarity of supply in clockwise motion. For "Polarity Reversal" DPDT switches are generally used. This can be done by using following circuit.

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

DPDT Switch Connections for REMOTE The wire should solder on metal strip not on switches directly (as shown in fig) this precaution helps us if there is wrong connection occurs in circuit.

DPDT Connections

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

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Motor connectionsThere are 4 output wires from remote which is to solder on motor. Switch1's output should connect motor1 and switch 2's on motor2. This means switch1 controls motor 1 and switch 2 controls motor2. Before connecting motor by soldering, the polarity of motor should be check buy giving direct supply from battery. Power SupplyYou can use 12V 1amp adapter for power supply which is easily available in the market or rechargeable battery of rating 9 Volt rating should connect with remote switch (as shown in fig).

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year

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ControlsThe following switch positions will give you the respective movement. L-DPDT switch TOP BOTTOM nil TOP TOP BOTTOM R-DPDT switch TOP BOTTOM TOP nil BOTTOM TOP Movement Forward Reverse Left Right 360 right 360 left

!!! CONGRATULATIONS !!! YOU HAVE COMPLETED YOUR FIRST STEP TOWARDS ROBOTICS. ENJOY AND SPREAD YOUR EXPERIENCE AMOUNG YOUR FRIENDS ## HAPPY ROBOTICS ##

Autobotz Robotics Club A.S.E.T., NOIDA

Abhinav Saxena M-Tech (EST), 2nd year