lego robotics
TRANSCRIPT
Lego Robotics Workshop
Team [email protected] Mehran UET, Jamshoro
19-20, Sept 2016Supervisors:Dr. Imtiaz Hussain KalwarEngr. Kamran KaziEngr. Aamir Ali Patoliwww.facebook.com/erevmuet/
Schedule--Today Day-1• Lecture– 10am to 12am• Construction of Robot—12pm to 2pm• Lunch—2pm to 3pm• Construction Resume—3pm to 5pm
Contents• What is Robotics?• Introduction to Lego Robotics• Lego Mindstorms EV3—3rd Generation evolution Intelligent Brick Motors Sensors• Construction of Robot• Programming• Execution of task
What is Robotics?• It is the branch of Mechanical, Electrical/Electronic and Computer
system engineering that deals with design, construction and computer system for their control, sensory feedback and information processing• Mechanical Engineers are concern with design and construction• IT Engineers are concern with control, communication and processing
What is Robot?• Robot is a controllable/programmable mechanical machine.• It can interface with humans and environment• First robot was invented by “George Devol”
Industrial Robots--Gripper
Defence Robots
Contents of Robotics• Servo Motors • Gears• Sensors • Relation of Torque and Speed
Servo Motors• Servo Motor: It is a simple DC motor with some circuitry.• It contain DC Motor Gears Potentiometer Feedback Control System• Servo Motor is used for controlled movement.• It is used when we need specified movement. Like two rotation,
rotation for 30 sec or rotation for 90degrees
Mechanism of Servo Motor
Servo Motor—Internal components
Gear• It is used to transfer
motion.• It is used to vary
Torque and speed.• Used to change
direction of rotating element
How Motion is transferred?
Relation Between Torque and Speed
Torque: It tells us how much load can be drived by rotating machine The first gear of vehicle has more torque than speed. Due to this, you
can drive more load but at low speed. Speed: It is angular velocity of a motor.
Lego Robotics
LEGO?
LEGO Group• Lego Group has been designing different robotic kits for education
and competitive purpose
Lego Mindstorms EV3• This is 3rd Generation Lego Robotic kit.• It comes with two different package i.e. different package contain
different assortment of material1) Retail Set 313132) Education Core set 45544
Content• Intelligent Brick• Motors Large Motors Medium Motors• IR (Infrared) sensor• Remote IR Beacon• Ultrasonic sensor• Color sensor• Touch sensor
Intelligent Brick
Intelligent Brick• Serve as control and power section for robot• SpecificationARM9 Processor Flash memory 16MBRam 64MBSupport up to four sensors and four motors USB 2.0 communication to host PC– up to 480Mbit/secSupport Micro SD card up to 32GBConnectors RJ12Power: 6 AA Batteries—1.5x6=9VoltWireless connection via Bluetooth and Wi-Fi
Motors--Large• High Torque• Less Speed• Used to move robot
like tires in cars• Running Speed: 160-
170rpm• Running Torque:
20Ncm
Motors--Medium• Less Torque• High Speed• Used to move small
parts of robot. Like Arm, lift, gun etc• Running Speed: 240-
250rpm• Running Torque: 8Ncm
Large Motor Medium Motor
More Powerful Less Powerful
Slower Faster
Sensor--Ultrasonic• It works on the principle
of reflected sound waves• Used to measure
distance• One ultrasonic sensor can
detect other ultrasonic sensor operating nearby• Range: 3-250cm with +/-
1cm
How it works?• Ultrasonic sensor emits sound waves. These sound waves reflect back
if there is an object in front of sensor. Ultrasonic detects these reflected sound waves and measures the time interval between transmitting and receiving the sound waves. By using the measured time interval it estimates distance between sensor and object
How it works?
Sensor—Infrared(IR)• It works on the principle of
reflected Light waves• Detects infrared light reflected
from object or sent from IR remote/beacon
• Use to measure distance or proximity
• It detects the reflected light and estimate the distance between sensor and object up to 70cm(Proximity Mode) depending upon the shape and size of object.
How Infrared sensor works
Ultrasonic and Infrared work on the same principle of Radar and Sonar• Radar produce radio waves to detect object—Used in defense mechanism• Sonar produce sound waves to detect object– Used in Submarines
Ultrasonic Vs Infrared… Which one is
better?Infrared Sensor can not work in dark environment
while Ultrasonic can.Whereas Ultrasonic is not very good in defining edges
of area
Drawback of Infrared sensor
Ultrasonic and Bat…
Sensor--Color• It is used to detect seven
different colors, reflected light intensity and ambient light intensity
• Ambient Light tells us how bright or dark the environment is.
• Cell phone has built-in ambient light sensors. Due to this cell phone adjusts its brightness by itself
How color sensor works?
Do colors exist?
What is Color?• Confused? Light, an electromagnetic wave, can come in different
wavelengths. These wavelengths enter your eye and the energy gets absorbed by cells on the back of your eye. This light energy then gets converted into chemical energy, gets processed by a few hundred million specialized neurons, and after a few fractions of a second magically your brain says wavelength 450nm is blue and wavelength 520nm is green.
How Color sensor works?• The color/light sensor shines the white light on object and detects the
reflected colored light.• The color sensor shines three colors (RGB—Red, Green and Blue) on object,
measure the reflected color intensity and recognize the actual color of object. If we shine RGB on red object, the red color becomes more brighter and
reflect back with more intensity while the green and blue get absorbed by object—Hence the sensor can detect red color
Above principle is same for green and blue color• It can also record the intensity(brightness) of color/light.• It has photodiode, which convert the light into current.
How human eye detect color?
Sensor--Touch• It is like a button.• It sense Pressed,
Released and Bumped• Bumped=Pressed and
Released
Sensor--Gyro• It sense the rotational
motion on one axis or rate of rotational motion(degrees per second)—Angular Velocity
• Measures how fast and how far your robot is turning
Application of Gyro Sensor• Gyro sensor is used in airplane, jet plane etc• Your cellphone has built-in Gyro sensor Screen rotation is sensed by Gyro sensor
Infrared(IR) Beacon/Remote
• Used to control robot• Can be used in 2 modes• 1. Beacon ( IR sensor follows it)• 2. Remote (sends commands to brick)
Accessories Education Edition Home edition
Rechargeable Battery Yes No
Intelligent Brick 1 1
IR Beacon (Infrared Remote Control) 0 1
Infrared Sensor 0 1
Ultrasonic Sensor 1 0
Touch Sensor 2 1
Color Sensor 1 1
Gyro Sensor 1 0
Large Motor 2 2
Middle Motor 1 1
Construction of Robot Lets Start
How to construct your Robot?
Just join/connect different components of Robot according to your design/task
Here are the Components