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1、Introduction to robotics technologyIn the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a
2、 planetary rover operating on the dark side of the moon - without radio communication - might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world
3、. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence). Mechanical platforms - the hardware baseA robot consists of two main parts: the robot body and some form of artificial intelligence (AI) system. Many differe
4、nt body parts can be called a robot. Articulated arms are used in welding and painting; gantry and conveyor systems move parts in factories; and giant robotic machines move earth deep inside mines. One of the most interesting aspects of robots in general is their behavior, which requires a form of i
5、ntelligence. The simplest behavior of a robot is locomotion. Typically, wheels are used as the underlying mechanism to make a robot move from one point to the next. And some force such as electricity is required to make the wheels turn under command. MotorsA variety of electric motors provide power
6、to robots, allowing them to move material, parts, tools, or specialized devices with various programmed motions. The efficiency rating of a motor describes how much of the electricity consumed is converted to mechanical energy. Lets take a look at some of the mechanical devices that are currently be
7、ing used in modern robotics technology. Driving mechanismsGears and chains: Gears and chains are mechanical platforms that provide a strong and accurate way to transmit rotary motion from one place to another, possibly changing it along the way. The speed change between two gears depends upon the nu
8、mber of teeth on each gear. When a powered gear goes through a full rotation, it pulls the chain by the number of teeth on that gear. Pulleys and belts: Pulleys and belts, two other types of mechanical platforms used in robots, work the same way as gears and chains. Pulleys are wheels with a groove
9、around the edge, and belts are the rubber loops that fit in that groove. Gearboxes: A gearbox operates on the same principles as the gear and chain, without the chain. Gearboxes require closer tolerances, since instead of using a large loose chain to transfer force and adjust for misalignments, the
10、gears mesh directly with each other. Examples of gearboxes can be found on the transmission in a car, the timing mechanism in a grandfather clock, and the paper-feed of your printer.Power suppliesPower supplies are generally provided by two types of battery. Primary batteries are used once and then
11、discarded; secondary batteries operate from a (mostly) reversible chemical reaction and can be recharged several times. Primary batteries have higher density and a lower self-discharge rate. Secondary (rechargeable) batteries have less energy than primary batteries, but can be recharged up to a thou
12、sand times depending on their chemistry and environment. Typically the first use of a rechargeable battery gives 4 hours of continuous operation in an application or robot. SensorsRobots react according to a basic temporal measurement, requiring different kinds of sensors. In most systems a sense of
13、 time is built-in through the circuits and programming. For this to be productive in practice, a robot has to have perceptual hardware and software, which updates quickly. Regardless of sensor hardware or software, sensing and sensors can be thought of as interacting with external events (in other w
14、ords, the outside world). The sensor measures some attribute of the world. The term transducer is often used interchangeably with sensor. A transducer is the mechanism, or element, of the sensor that transforms the energy associated with what is being measured into another form of energy. A sensor r
15、eceives energy and transmits a signal to a display or computer. Sensors use transducers to change the input signal (sound, light, pressure, temperature, etc.) into an analog or digital form capable of being used by a robot. Microcontroller systemsMicrocontrollers (MCUs) are intelligent electronic de
16、vices used inside robots. They deliver functions similar to those performed by a microprocessor (central processing unit, or CPU) inside a personal computer. MCUs are slower and can address less memory than CPUs, but are designed for real-world control problems. One of the major differences between CPUs and MCUs is the number of external components needed to operate them. MCUs can often run with zero external parts, and typically need only an external crystal
