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Seminar Report on ROBOT MOTION AND LEG MECHANISMS Submitted By Ash ini ! S!

Manth"o# $%BI&'MMD&() In Partial Fulfillment of MASTER DEGREE IN MACHINE DESIGN OF THE VISHVESHWARIAH TECHNOLOGICAL UNIVERISITY, BELGAUM

Department o* Me+hani+a# En"ineerin" BANGALORE INSTITUTE OF TECHNOLOGY

,, -.RAM BANGALORE/012303 2&&'/2&&4

CERTIFICATE

Certi*ied that the seminar report entit#ed 5SENSORS IN ROBOTICS6 is bona*ied or7 +arried by ASH8INI S MANTHGOL In partia# *u#*i##ment o* the re9uirement *or the a ard o* de"ree o* Ma+hine Desi"n o* ,i:esh araih Te+hno#o"i+a# .ni:ersity; Be#"aum durin" year 2&&'/2&&4! It is +erti*ied that a## the +orre+tion<su""estion indi+ated *or interna# assessment ha:e been in+orporated in the report deposited in the #ibrary! The Seminar report has appro:ed as it satis*ies the a+ademi+ re9uirements in respe+t o* Seminar pres+ribed *or the Master o* Te+hno#o"y De"ree!

Si"nature o* the HOD

ACKNOWLEGEMENTS

A "reat dea# o* time and e**ort has "one into su++ess*u# e=e+ution o* my seminar and preparation o* this seminar report! I +ontribution *rom :arious sour+es and peop#e su++ess o* this endea:or! I ish to p#a+e on re+ord my heart/*e#t than7s to Dr.T.Jagadis , Head o* the Department; Ma+hine Desi"n; BIT *or his e:er inspirin" support and en+oura"ement! I sin+ere#y e=press my "ratitude to A!! S"a##, Ma$ i%& D&sig%, BIT *or their 7ind +o/operation in "uidin" me in the seminar ou#d #i7e to a+7no #ed"e the

ho ha:e been instrumenta# in the

SENSORS IN ROBOTICS I%"r'd($"i'% )


The term robot deri:es *rom the C>e+h ord robota; meanin" *or+ed or7 or +ompu#sory ser:i+e; or robotni7; meanin" ser*! Robot +an be de*ined as ?A repro"rammab#e; mu#ti*un+tiona# manipu#ator desi"ned to mo:e materia#; parts; too#s; or spe+ia#i>ed de:i+es throu"h :arious pro"rammed motions *or the per*orman+e o* a :ariety o* tas7s6! Roboti+s has matured as a system inte"ration en"ineerin" *ie#d de*ined by M! Brad#ey as 5the inte##i"ent +onne+tion o* the per+eption to a+tion6! -ro"rammab#e robot manipu#ators pro:ide the 5a+tion6 +omponent! A :ariety o* sensors and sensin" te+hni9ues are a:ai#ab#e to pro:ide the 5per+eption6! Sensor / an e#e+tri+a#<me+hani+a#<+hemi+a# de:i+e that maps an en:ironmenta# attribute to a 9uantitati:e measurement! Co##e+t in*ormation about the or#d! Ea+h sensor is based on a transdu+tion prin+ip#e - +on:ersion o* ener"y *rom one *orm to another! A#so 7no n as transdu+ers! W * r'+'"s %&&d s&!#,s&%si%g W a" is S&%si%g@ Co##e+t in*ormation about the or#d @ Sensor / an e#e+tri+a#<me+hani+a#<+hemi+a# de:i+e that maps an en:ironmenta# attribute to a 9uantitati:e measurement A attribute mi=tures / o*ten no one to one map A hidden state in en:ironment @ Ea+h sensor is based on a transdu+tion prin+ip#e - +on:ersion o* ener"y *rom one *orm to another @ A#so 7no n as transdu+ers

Bor a robot to a+t su++ess*u##y in the rea# or#d it needs to be ab#e to per+ei:e the or#d; and itse#* in the or#d! In parti+u#ar; to +ontro# its o n a+tions; it needs in*ormation about the position and mo:ement o* its body and parts! Our body +ontains at #east as many sensors *or our o n mo:ement as it does *or si"na#s *rom the or#d S&%s'rs , W a" Ca% B& S&%s&dIn or7in" +ondition o* the robot hat +an be a robot sense! Li"htC -resen+e; +o#or; intensity; +ontent $mod); dire+tion SoundC -resen+e; *re9uen+y; intensity; +ontent $mod); dire+tion HeatC Temperature; a:e#en"th; ma"nitude; dire+tion Chemi+a#sC -resen+e; +on+entration; identity; et+! ObDe+t -ro=imityC -resen+e<absen+e; distan+e; bearin"; +o#or; et+! -hysi+a# orientation<attitude<position Ma"nitude; pit+h; ro##s; ya ; +oordinates; et+! Ma"neti+ E E#e+tri+ Bie#dsC -resen+e; ma"nitude; orientation; +ontent! Resistan+e $e#e+tri+a#; indire+t#y :ia ,<I)C -resen+e; ma"nitude; et+! Capa+itan+e $:ia e=+itation<os+i##ation)C -resen+e; ma"nitude; et+! Indu+tan+e $:ia e=+itation<os+i##ation)C -resen+e; ma"nitude; et+.

T*.&s '# s&%s'rs


Sensors main#y +#assi*ied in to t o types! They are name#y A+ti:e

o send si"na# into en:ironment and measure intera+tion o* si"na# ith en:ironment o e!"! radar; sonar -assi:e o re+ord si"na#s a#ready present in en:ironment o e!"! :ideo +ameras DIFFERENT TY/ES OF SENSORS Ta$"i!& S&%s'rs) it is used to te## us i* e hit somethin"! E=amp#es o* ta+ti#e sensorsC Ma"neti+, .#trasoni+; Mi+ro a:e and Opti+a#! Ti0& '# F!ig " s&%s'rsC it is used to te## us ho *ar obDe+ts are *rom us E=amp#es o* ta+ti#e sensorsC .#trasoni+ and Laser / Based C'0.ass&sC it is used to measure hi+h ay is north E=amp#es o* +ompassesC Me+hani+a#; B#u="ate and Ha##/E**e+t! Mis&!!a%&'(s) it is used to te## us thin"s about our en:ironment! E=amp#es o* mis+e##aneousC Gyros+opes; Motion Dete+tion; Smo7e; -ressure; Temperature! Si0.!& $'00'%!* (s&d .ra$"i$a! S&%s'rs Tou+h sensors Ti#t sensors En+oders Bend sensors Li"ht sensors

Temperature sensors -otentiometer Laser ran"e*inders Cameras

Ta$"i!& S&%s'rs
Ta+ti#e sensors are de:i+es hi+h indi+ate +onta+t bet een themse#:es and some other so#id obDe+t! Main#y used *or +o##ision dete+tion! I* the s it+h +onne+ts; e#e+tri+ity passes and e +an dete+t a 5hit6!

T'($ S&%s'rs
H'1 " is T'($ S&%s'rs 1'r2s A tou+h sensor or7s #i7e a #i"ht s it+h in your house! 8hen the button is pressed; an e#e+tri+a# +ir+uit is +#osed inside the sensor! This #ets e#e+tri+ity *#o ! 8hen the button is re#eased; the +ir+uit is bro7en and no e#e+tri+ity *#o s! The RCF +an sense this *#o o* e#e+tri+ity; so it 7no s i* the tou+h sensor i* pressed or re#eased!

electrical flow

force

voltage measurement

Us&s) Dete+t +onta+t bet een the robot and e=terna# obDe+ts #i7e a##s! Dete+t +onta+t ith interna# mo:in" parts in the robot $arm or "ripper)! Tab#eBot / dete+t +onta+t ith the "round so the robot doesnGt *a## o** the tab#e! Input De:i+e / push button or 5remote6 +ontro#!

S&%s'r d&3i$&s (s&d i% r'+'" 1'r2 $&!!s


Strain "au"e A $*or+e sensor) +ommon transdu+er used to measure *or+e; tor9ue; pressure; E other re#ated :ariab#es! Can be used to indi+ate *or+e app#ied to "rasp an obDe+t! Themistor A De:i+e based on e#e+tri+a# resistan+e used to measure temperature! ,oi+e sensors A ad:an+ed sensor system used to +ommuni+ate +ommands or in*ormation ora##y to the robot! ,ision sensors A to :ie and interpret e:ents o++urrin" in the robot or7p#a+e! -otentiometer A E#e+tri+a# meter used to measure :o#ta"e

In*rared sensor A $pro=imity sensor) +an be used to indi+ate presen+e or absen+e o* a hot obDe+t Mi+ro s it+h A $tou+h sensor) +an be used to indi+ate presen+e or absen+e o* an obDe+t -ie>oe#e+tri+ a++e#erometer A sensors used to indi+ate or measure :ibration! D&sira+!& F&a"(r&s '# " & s&%s'rs A++ura+y -re+ision A series o* measurements i## be minimi>ed Speed o* response Ca#ibration A Sensors shou#d not re9uire *re9uent +a#ibration Re#iabi#ity Cost and ease o* operation

Us&s '# s&%s'rs i% r'+'"i$s

Sa*ety monitorin" Inter#o+7s in or7 +e## +ontro# -art inspe+tion *or 9ua#ity +ontro# Determinin" positions and re#ated in*ormation about obDe+ts in the robot +e##

BIBLIOGRA/HY Industria# roboti+s by Mi7e## -! Groo:er; Mit+he## eiss; Ro"er N!Na"e#; Ni+ho#as G! Odrey

!"oo"#e!+om !a+roname!+om !#yn=motion!+om !drrobot!+om !robotstoreh7!+om<sensor!htm#

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