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See all Premium member Presentation Transcript Different Types of Robots: Different Types of Robots Robot Arms (Fixed Robots) Mobile Robots Humanoid Robots Legged Robots Wheel Robots 3 wheels 2 Driver wheels, 1 Caster 1 Driver wheel, 2 Casters 4 wheels Casters make diverse problems in the control of the robot Wheel Robot Main Components: Wheel Robot Main Components Main Components Mechanics Wheels Driver Motor (s) Power Transmission System Electronics Controller Board Needing feedback from environment Sensors We are now discussing some of the above topicsDifferent Types of Motors: Different Types of Motors DC Motors You can simply control it AC Motors It’s difficult to be controlled but it can be used in high power applications Servo Motors You have complete control on the shaft angle Different Types of Feed Back: Different Types of Feed Back Sensors IR Sensors Pressure Sensors Light Sensors Temperature Sensors EncoderWhat is Encoder: What is EncoderWhy do we use Power Transmission Systems?: Why do we use Power Transmission Systems? To reduce Angular Velocity To increase Torque P = (T . w) = cte. Different Transmission Systems Gear Hard manufacturing and adjustment Pulley So w => T Gear: Gear Gears are used to change the speed and force of the motor. You can use gears to: Speed up or slow down your robot. Make your robot stronger or weaker. There are many different types of gears Spur Gear Bevel Gear Worm Gear Rack & Pinion Gear: Gear Spur gears are wheels with teeth Gear: Gear Bevel gears mesh at right angles, so they change the direction of rotation.Gear: Gear Worm gears look like screws. They have many special properties. Gear: Gear Rack & pinion gears turn rotational motion into straight-line motion. Slide12: Where does all this “torque” come from? Consider a pair of gears that are meshed together. F t The moment arm is the radius of the gear. Remember: t = F x r r A torque on this axle... …produces a force at the tooth.Slide13: F t r The force from the small gear’s tooth pushes against the large gear’s tooth. This creates an equal (and opposite) force in the large gear. This is Newton’s 3rd Law. …and produces a larger torque on this axle. The force acts through this larger moment arm...Slide14: Analyzing the forces... t1 = F1 x r1 t2 = F2 x r2 F1 = t1 / r1 F2 = t2 / r2 F1 = - F2 t1 / r1 = -t2 / r2 -t2 / t1 = r2 / r1 The ratio of torques is the ratio of the gear radii. This is the gear ratio!Idler Gear: Idler Gear An idler gear is a gear that is inserted between two other gears. Idler gears do not affect the gear ratio between the input and output gears. The gear ratio would be computed just the same if there were no idler gear. Idler Gear: Idler Gear Recall that when using spur gears, the output axle rotates in the opposite direction as the input axle. You can also use idler gears to change the spacing between the input and output axles Remember, idler gears do not change the gear ratioGear: Gear The gear ratio of this gear box is 75 to 1 That means the last axle rotates 75 times slower than the first axle. It also means the last axle has 75 times the torque as the first axle.Slide18: Try this experiment. Have one person turn this wheel. And have another person try to hold on to this wheel.Slide19: Gears can increase the torque (and force) that they exert on something. This is known as mechanical advantage. BUT, it comes at a price. Do you know what it is? torque increasesSlide20: Belt Drives Uses friction to transmit power Velocity Ratio: D1.w1=D2.w2Belt Drive Basics: Belt Drive Basics Motor Nameplate Size DR DNBelt Drive Basics: Belt Drive Basics 700 rpm 4375 rpm Ratio always greater than 1 Speed Ratio = 2.5How to assemble our Robot: How to assemble our Robot Here is our packageHow to assemble our Robot: How to assemble our Robot 1 2 3How to assemble our Robot: How to assemble our Robot Bottom view of the robotHow to assemble our Robot: How to assemble our Robot Sensor board assemblyIf you have any further help please contact us at:: If you have any further help please contact us at: firstname.lastname@example.org Please take a look at our website at: Robot.schoolnet.ir You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.