mechatronics design lab

8/10/2019 Mechatronics Design LAB

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W A Q A S E H S A N B U T T

Mechatronics Design Lab


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A Tutorial on Robot Design


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Course Introduction

2 Credit Hours Theory:

0 Credit Hours

Lab:

2 Credit Hours

Email id : [email protected]

Lab Mechatronics Project Lab, A-Block
mailto:[email protected]:[email protected]


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Relevant Books

R. K. Rajput, A text Book of Mechatronics, 1stEdition, S. Chand, 2007

Devdas Shetty and Richard Kolk MechatronicsSystem Design Cengage Learning 2008

Saeed B.Niku Introduction to Robotic Analysis,Systems and Applications Pearson Education Inc,NJ USA, 2001


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Prerequisites

Mechanical

Mechanical Design and Analysis

Electronics

Op-amps, Diodes, BJTs, FETs etc. Programming

Basic Microcontroller Programing


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Marks Distribution

The marks distribution for this lab will be as follows,and if updated, will be communicated to the students

Semester Project 60%

Projects 20%

Quizzes 10%

Assignments 10%


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Locomotion, Dynamics and Kinematics

Dynamics???????

Kinematics??????


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Dynamics and Kinematics

Dynamics

The study of motion in which forces are also modeled

Kinematics The study of motion without considering the forces that effect

the motion


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Simple Kinematic Model


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Simple Kinematic Model


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Common Base Design Approaches

Chain Drives:

Advantages:?????


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Chain Drives:

Advantages:

High Torque

Good Stability

Disadvantages:?????


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Belt Drives:

Advantages:????


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Belt Drives:

Advantages:

High Torque

Good Stability

Disadvantages:?????


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Differential Drives:

Advantages:????


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Advantages:

High Maneuverability

No wear

Disadvantages:?????


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Advantages:

High Maneuverability

No wear

Disadvantages:

Low stability


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Material Selection

Basic Requirement for robot manufacturing

Mainly Distinguished based upon???????


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Material Selection

Basic Requirement for robot manufacturing

Mainly Distinguished based upon Density

StrengthYield Strength

Tensile Strength etc.

Cost

Resistivity etc.


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Material Selection

Our requirement is a low cost

High strength material. Which

Material should be selected???

See the chart


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Material Selection

Our requirement is a high

strength material. (No need to

Worry about the cost) Which

Material should be selected???See the chart


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Material Selection

Our requirement is a high

strength material which should

be light. Which

Material should be selected???See the chart

Other Charts also available

On internet


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Material Selection

Some Basic Materials Wood

Ply wood, ash, birch, oak etc.

Advantages?????


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Material Selection



Advantages

Inexpensive

Easy to work with

Easily Available

Available in a large variety of density levels

Disadvantages?????


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Material Selection



Advantages

Inexpensive

Easy to work with

Easily Available

Available in a large variety of density levels

Disadvantages Heavy

Low strength to mass ratio in most cases


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Material Selection

Some Basic Materials Plastic

Acrylic, PVC, Polycarbonate etc.

Advantages?????


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Material Selection

Some Basic Materials Plastic

Acrylic, PVC, Polycarbonate etc.

Advantages

Resistant to corrosion

Light

Affordable and readily available

Disadvantages

Directional strength


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Material Selection

Some Basic Materials Metals

Aluminum, Steel etc.

Advantages??????


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Material Selection



Advantages

Easily Available

Strong body in a small package

Useful for robot frames

Disadvantages??????


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Material Selection



Advantages

Easily Available

Strong body in a small package

Useful for robot frames

Disadvantages

Corrosive Heavy

High cost


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Material Selection

Some Basic Materials Composites

Foam board, carbon composites

Advantages ????


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Material Selection

Some Basic Materials Composites

Foam board, carbon composites

Advantages

Weight to strength ratio

Disadvantages

Not easily available

High Cost

Some time requires special tools to work with


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Motor Torque Calculation

TORQUE:????


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TORQUE: Torque in rotational motion can be thought of as force in linear

motion

Sometimes called Load instead of torque

Units can be Kg-m

N-m


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BASIC TERMINOLOGIES: Start up Torque/Stall Torque??????


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BASIC TERMINOLOGIES: Start up Torque/Stall Torque

The start-up torque or Stall Torque is the maximum torque thatthe motor can provide.

Not very useful because of zero speed Rated/Nominal Torque???


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BASIC TERMINOLOGIES: Start up Torque/Stall Torque


Not very useful because of zero speed Rated/Nominal Torque

The maximum torque that ensures continuous operation, withoutproblems

Very useful, optimum for design

If not given in datasheet, it can be considered as

Stall Torque = 2 x Nominal Torque


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Motor Speed Calculation

BASIC TERMINOLOGIES: No load Speed?????


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BASIC TERMINOLOGIES: No load Speed


Not very useful because of zero load Rated/Nominal Speed??????


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BASIC TERMINOLOGIES: No load Speed

The speed of the motor in no load conditions

Not very useful because of zero load

Rated/Nominal Speed The optimal speed on which optimal torque is ensured

Very useful, optimum for design


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Normally measured in revolutions per minute (rpm)

The distance covered in one revolution of a wheel isequal to 2r where r is the radius of the wheel

If v is the required speed of the robot, then therequired rpm of the motor can be calculated fromequation??????????


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Power Calculation

Mechanical Power????????


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Power Calculation


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Power Calculation


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Power Calculation


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mechatronics design lab

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