0. ED Worksheet

EduBot Worksheet

Robot Motion Control and Components

Robot Motion Configurations

Robots can have various motion control mechanisms based on their applications. Here are the primary configurations:

1. Cartesian Coordinates

• Description: Robots operate using linear principal axis controls, moving in straight lines rather than rotations. Motion is controlled by three mutually perpendicular prismatic (P) joints corresponding to the X, Y, and Z axes.
• Advantages: Highly reliable for operations in 3D space.
• Source: Wikipedia - Cartesian Coordinate Robot

2. Cylindrical Coordinates

• Description: These robots use a cylindrical coordinate system. The motion of the main arm is primarily vertical (up and down).
• Applications: Commonly used for spot welding and material handling.
• Source: RobotPark - Cylindrical Robots

3. Polar Coordinates

• Description: Motion is based on distance and angle from a reference point. The robot arm typically has two rotary joints for arm and palm rotation.
• Applications: Ideal for rotational tasks.
• Source: Process Solutions - Polar Robots

4. Jointed Arm (Articulated) Robots

• Description: Uses a series of revolute joints arranged in a "chain," enabling continuous path motion.
• Advantages: Flexible and versatile for various tasks.
• Source: Wikipedia - Articulated Robot

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Basic Components of a Robot

1. Grippers

• Function: Helps the robot pick up and hold objects; part of the manipulator linkage.
• Source: Types of Grippers

2. Actuators (Motors)

• Function: Provide motion to robot components, converting electrical power to mechanical motion.
• Source: FutureLearn - Actuators

3. Sensors

• Function: Detect changes in surroundings and enable the robot to respond accordingly.
• Source: FutureLearn - Sensors

4. Transmission

• Function: Controls and maintains the speed of motors, connecting actuators to grippers or other components.
• Source: Wikipedia - Transmission

5. Controllers (e.g., Arduino)

• Function: Acts as the brain of the robot, using software to control its operations.
• Source: Robots Done Right - Controllers

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Pertinent Information on Electric Actuators

1. DC Motors

Steppers:

• Description: Brushless DC motors that divide a full rotation into equal steps. Operate with open-loop control.
• Source: Wikipedia - Stepper Motors

BLDC Motors:

• Description: Synchronous motors powered by a DC supply, using electronic controllers for precise motion.
• Source: Wikipedia - BLDC Motors

Brushed DC Motors:

• Description: Use internal commutation and brushes to run from DC power.
• Source: Wikipedia - Brushed DC Motors

2. Motor Drivers

• Description: Interface between motors and control circuits, converting low-current signals to high-current outputs for motor operation.
• Source: Wikipedia - Motor Drivers

3. H-Bridge

• Description: Circuitry to switch voltage polarity, enabling motors to move in forward or reverse directions.
• Source: Wikipedia - H-Bridge

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Additional References

• General information: Poori Padhai - Basics of Robotics

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This document integrates motion configurations, robot components, and pertinent details about actuators to provide a comprehensive overview of robotic systems.