When I first came into this I had only a limited amount of knowledge and after the first unit I got to know a lot about robots such as their classifications into several groups which are as follows By Application 1. Industrial robots 2. Autonomous vehicles 3. Domestic or household robots 4. Medical robots 5. Military robots 6. Unmanned aerial vehicles 7. Entertainment robots 8. Space robots 9. Hobby and competition robotsmovemen 10. Other Service Robots By Kinematics / Mechanics 1. Stationary robots 2. Wheeled robots 3. Legged robots 4. Swimming robots 5. Flying robots 6. Mobile spherical robots 7. Swarm robots Most of all I learned more about the robots in details such as a mechanical structure of a robot and throughout this I also learned the characteristics that a robot would have such as the degree of freedom, movement capability, movement precision and finally we looked at dynamic characteristics of a robot Definitions Of The Characteristics Degrees of Freedom (DoF) • Number of complementary movements (joints/actuators) Within Degrees of freedom I got to learn that a minimum three degree of freedom which are roll, tilt, pan and it covers all three axis of x,y, and z. I also got to learn about what exactly is an end effector. Movement Capability • Working volume, Accessibility and Maneuvering Within this feature I learned about the working volume, accesbility and maneuverability of the robot and we also discussed about the classic architectures (see below for more details) Movement Precision • Resolution, Repetitiveness, Precision and Compliance Dynamic Characteristics • Payload, Speed and Stability I also got the opportunity to learn about the classic architectures in robots • Cartesian • Cylindrical • Polar • Angular (Articulated) • SCARA • Special architectures (e.g. Pendulum, Elephant, Stewar) And finally I got to learn the work specifications that each type of architecture has where the cartesian(D+D+D) where all movements including its actuators and other complementary movements can move only in a linear pattern. Next the cyclindrical (R+D+D) this has one movement that has the ability to move in a rotary meaning it can move it 360 degrees and the remaining movements are only able to move in a linear pattern. Next the polar work space (R+R+D) this is quite interesting since it has two rotary movements and only one linear pattern movements. Finally Angular works in a very odd manner well it has the same movements as the polar but what is different is that it is able to manipulate all its movements in a angular motion. Scara works in a odd manner since it has all three movements in rotary. Scara stands for selective compliance assembly robot. Overall this introductory was really engaging and lot to learn as a beginner such as key terms like end effector, degrees of freedom and dynamic characteristics. |
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