Robotics is the branch of technology that deals with the design, construction, operation, and application of robots,as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behavior, and/or cognition. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics.
The concept of creating machines that can operate autonomously dates back to classical times, but research into the functionality and potential uses of robots did not grow substantially until the 20th century. Throughout history, robotics has been often seen to mimic human behavior, and often manage tasks in a similar fashion. Today, robotics is a rapidly growing field, as technological advances continue, research, design, and building new robots serve various practical purposes, whether domestically, commercially, or militarily. Many robots do jobs that are hazardous to people such as defusing bombs, mines and exploring shipwrecks.
History of robotics:
In 1927 the Maschinenmensch ("machine-human") gynoid humanoid robot (also called "Parody", "Futura", "Robotrix", or the "Maria impersonator") was the first and perhaps the most memorable depiction of a robot ever to appear on film was played by German actress Brigitte Helm in Fritz Lang's film Metropolis.
In 1942 the science fiction writer Isaac Asimov formulated his Three Laws of Robotics.
In 1948 Norbert Wiener formulated the principles of cybernetics, the basis of practical robotics.
Fully autonomous robots only appeared in the second half of the 20th century. The first digitally operated and programmable robot, the Unimate, was installed in 1961 to lift hot pieces of metal from a die casting machine and stack them. Commercial and industrial robots are widespread today and used to perform jobs more cheaply, or more accurately and reliably, than humans. They are also employed in jobs which are too dirty, dangerous, or dull to be suitable for humans. Robots are widely used in manufacturing, assembly, packing and packaging, transport, earth and space exploration, surgery, weaponry, laboratory research, safety, and the mass production of consumer and industrial goods
Components
Power source
Further information: Power supply and Energy storage
At present mostly (lead-acid) batteries are used as a power source. Many different types of batteries can be used as a power source for robots. They range from lead acid batteries which are safe and have relatively long shelf lives but are rather heavy to silver cadmium batteries that are much smaller in volume and are currently much more expensive. Designing a battery powered robot needs to take into account factors such as safety, cycle lifetime and weight. Generators, often some type of internal combustion engine, can also be used. However, such designs are often mechanically complex and need fuel, require heat dissipation and are relatively heavy. A tether connecting the robot to a power supply would remove the power supply from the robot entirely. This has the advantage of saving weight and space by moving all power generation and storage components elsewhere. However, this design does come with the drawback of constantly having a cable connected to the robot, which can be difficult to manage.[15] Potential power sources could be:
- pneumatic (compressed gases)
- hydraulics (liquids)
- flywheel energy storage
- organic garbage (through anaerobic digestion)
- faeces (human, animal); may be interesting in a military context as faeces of small combat groups may be reused for the energy requirements of the robot assistant (see DEKA's project Slingshot Stirling engine on how the system would operate)
Actuation
Actuators are like the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors that spin a wheel or gear, and linear actuators that control industrial robots in factories. But there are some recent advances in alternative types of actuators, powered by electricity, chemicals, or compressed air.
Electric motors
The vast majority of robots use electric motors, often brushed and brushless DC motors in portable robots or AC motors in industrial robots and CNC machines. These motors are often preferred in systems with lighter loads, and where the predominant form of motion is rotational.
Linear actuators
Various types of linear actuators move in and out instead of by spinning, and often have quicker direction changes, particularly when very large forces are needed such as with industrial robotics. They are typically powered by compressed air (pneumatic actuator) or an oil (hydraulic actuator).
Series elastic actuators
A spring can be designed as part of the motor actuator, to allow improved force control. It has been used in various robots, particularly walking humanoid robots.
Air muscles
Pneumatic artificial muscles, also known as air muscles, are special tubes that contract (typically up to 40%) when air is forced inside them. They have been used for some robot applications.
Muscle wire
Muscle wire, also known as Shape Memory Alloy, Nitinol or Flexinol Wire, is a material that contracts slightly (typically under 5%) when electricity runs through it. They have been used for some small robot applications.
Electroactive polymers
EAPs or EPAMs are a new plastic material that can contract substantially (up to 380% activation strain) from electricity, and have been used in facial muscles and arms of humanoid robots,[21] and to allow new robots to float, fly, swim or walk.
Piezo motors
Recent alternatives to DC motors are piezo motors or ultrasonic motors. These work on a fundamentally different principle, whereby tiny piezoceramic elements, vibrating many thousands of times per second, cause linear or rotary motion. There are different mechanisms of operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line. Another type uses the piezo elements to cause a nut to vibrate and drive a screw. The advantages of these motors are nanometer resolution, speed, and available force for their size.These motors are already available commercially, and being used on some robots.
Elastic nanotubes
Elastic nanotubes are a promising artificial muscle technology in early-stage experimental development. The absence of defects in carbon nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10 J/cm3 for metal nanotubes. Human biceps could be replaced with an 8 mm diameter wire of this material. Such compact "muscle" might allow future robots to outrun and outjump humans.
Sensing
Sensors allow robots to receive information about a certain measurement of the environment, or internal components. This is essential for robots to perform their tasks, and act upon any changes in the environment to calculate the appropriate response. They are used for various forms of measurements, to give the robots warnings about safety or malfunctions, and to provide real time information of the task it is performing.
Touch
Current robotic and prosthetic hands receive far less tactile information than the human hand. Recent research has developed a tactile sensor array that mimics the mechanical properties and touch receptors of human fingertips.The sensor array is constructed as a rigid core surrounded by conductive fluid contained by an elastomeric skin. Electrodes are mounted on the surface of the rigid core and are connected to an impedance-measuring device within the core. When the artificial skin touches an object the fluid path around the electrodes is deformed, producing impedance changes that map the forces received from the object. The researchers expect that an important function of such artificial fingertips will be adjusting robotic grip on held objects.
Scientists from several European countries and Israel developed a prosthetic hand in 2009, called SmartHand, which functions like a real one—allowing patients to write with it, type on a keyboard, play piano and perform other fine movements. The prosthesis has sensors which enable the patient to sense real feeling in its fingertips.
Vision
Computer vision is the science and technology of machines that see. As a scientific discipline, computer vision is concerned with the theory behind artificial systems that extract information from images. The image data can take many forms, such as video sequences and views from cameras.
In most practical computer vision applications, the computers are pre-programmed to solve a particular task, but methods based on learning are now becoming increasingly common.
Computer vision systems rely on image sensors which detect electromagnetic radiation which is typically in the form of either visible light or infra-red light. The sensors are designed using solid-state physics. The process by which light propagates and reflects off surfaces is explained using optics. Sophisticated image sensors even require quantum mechanicsto provide a complete understanding of the image formation process. Robots can also be equipped with multiple vision sensors to be better able to compute the sense of depth in the environment. Like human eyes, robots' "eyes" must also be able to focus on a particular area of interest, and also adjust to variations in light intensities.
There is a subfield within computer vision where artificial systems are designed to mimic the processing and behavior of biological system, at different levels of complexity. Also, some of the learning-based methods developed within computer vision have their background in biology.
Manipulation
Robots need to manipulate objects; pick up, modify, destroy, or otherwise have an effect. Thus the "hands" of a robot are often referred to as end effectors,while the "arm" is referred to as a manipulator.[33] Most robot arms have replaceable effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have one very general purpose manipulator, for example a humanoid hand.Further information: Mobile manipulator
For the definitive guide to all forms of robot end-effectors, their design, and usage consult the book "Robot Grippers".
Mechanical grippers
One of the most common effectors is the gripper. In its simplest manifestation it consists of just two fingers which can open and close to pick up and let go of a range of small objects. Fingers can for example be made of a chain with a metal wire run through it.Hands that resemble and work more like a human hand include the Shadow Hand, the Robonaut hand, ... Hands that are of a mid-level complexity include the Delft hand.Mechanical grippers can come in various types, including friction and encompassing jaws. Friction jaws use all the force of the gripper to hold the object in place using friction. Encompassing jaws cradle the object in place, using less friction.
Vacuum grippers
Vacuum grippers are very simple astrictive devices, but can hold very large loads provided the prehension surface is smooth enough to ensure suction.
Pick and place robots for electronic components and for large objects like car windscreens, often use very simple vacuum grippers.
General purpose effectors
Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand, MANUS,and the Schunk hand. These are highly dexterous manipulators, with as many as 20 degrees of freedom and hundreds of tactile sensors.
Rolling robots
Two-wheeled balancing robotsFor simplicity most mobile robots have four wheels or a number of continuous tracks. Some researchers have tried to create more complex wheeled robots with only one or two wheels. These can have certain advantages such as greater efficiency and reduced parts, as well as allowing a robot to navigate in confined places that a four wheeled robot would not be able to.
Balancing robots generally use a gyroscope to detect how much a robot is falling and then drive the wheels proportionally in the opposite direction, to counterbalance the fall at hundreds of times per second, based on the dynamics of an inverted pendulum. Many different balancing robots have been designed. While the Segway is not commonly thought of as a robot, it can be thought of as a component of a robot, when used as such Segway refer to them as RMP (Robotic Mobility Platform). An example of this use has been as NASA'sRobonaut that has been mounted on a Segway.
One-wheeled balancing robots
A one-wheeled balancing robot is an extension of a two-wheeled balancing robot so that it can move in any 2D direction using a round ball as its only wheel. Several one-wheeled balancing robots have been designed recently, such as Carnegie Mellon University's "Ballbot" that is the approximate height and width of a person, and Tohoku Gakuin University's "BallIP". Because of the long, thin shape and ability to maneuver in tight spaces, they have the potential to function better than other robots in environments with people.
Spherical orb robots
Several attempts have been made in robots that are completely inside a spherical ball, either by spinning a weight inside the ball, or by rotating the outer shells of the sphere.These have also been referred to as an orb bot or a ball bot.
Six-wheeled robots
Using six wheels instead of four wheels can give better traction or grip in outdoor terrain such as on rocky dirt or grass.
Tracked robots
Tank tracks provide even more traction than a six-wheeled robot. Tracked wheels behave as if they were made of hundreds of wheels, therefore are very common for outdoor and military robots, where the robot must drive on very rough terrain. However, they are difficult to use indoors such as on carpets and smooth floors. Examples include NASA's Urban Robot "Urbie
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