Fundamentals Of Robotic Mechanical Systems - Ro...
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Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.
As more and more robots are designed for specific tasks, this method of classification becomes more relevant. For example, many robots are designed for assembly work, which may not be readily adaptable for other applications. They are termed \"assembly robots\". For seam welding, some suppliers provide complete welding systems with the robot i.e. the welding equipment along with other material handling facilities like turntables, etc. as an integrated unit. Such an integrated robotic system is called a \"welding robot\" even though its discrete manipulator unit could be adapted to a variety of tasks. Some robots are specifically designed for heavy load manipulation, and are labeled as \"heavy-duty robots\".
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 and oxidized air (pneumatic actuator) or an oil (hydraulic actuator) Linear actuators can also be powered by electricity which usually consists of a motor and a leadscrew. Another common type is a mechanical linear actuator that is turned by hand, such as a rack and pinion on a car.
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 the robotic grip on held objects.
Suction is a highly used type of end-effector in industry, in part because the natural compliance of soft suction end-effectors can enable a robot to be more robust in the presence of imperfect robotic perception. As an example: consider the case of a robot vision system that estimates the position of a water bottle but has 1 centimeter of error. While this may cause a rigid mechanical gripper to puncture the water bottle, the soft suction end-effector may just bend slightly and conform to the shape of the water bottle surface.
The Robotics Minor consists of four undergraduate ROB courses. The minor teaches the fundamentals of robotics: kinematics, dynamics, manipulation, locomotion, planning, vision, and human-robot interaction. Students will have hands-on experience. Interested students should allow 4 semesters (two years) to complete the four courses for the minor in robotics.
Applied Dynamics and Optimization Lab (ADOL) ADOL studies energetics of dynamic systems, legged balance and gait stability, and integration of dynamics/control with numerical optimization. It aims to advance (i) the design and control of robots and machines and (ii) the prediction and analysis of biomechanical systems.
Control and Network (CAN) Lab The CAN Lab develops fundamental principles and tools for the stability analysis and control of nonlinear dynamical networks, with applications to information, mechanical, and biological systems.
Dynamical Systems Lab The lab conducts multidisciplinary research in the theory and application of dynamical systems. The lab's activities are in robotics, mechatronics, experimental fluid mechanics, material characterization, animal behavior, and vibrations.
Mechatronics Lab The Mechatronics Lab promotes research and education in mechatronics: a synergistic integration of mechanical engineering, control theory, computer science, and electronics with applications in robotics, health care, transportation, and smart consumer products.
Chen Feng Prof. Feng's research is in computer vision and machine learning for robotics and automation. He has several patents on visual simultaneous localization and mapping. Prof. Feng's multidisciplinary research group, AI4CE, works on problems that originate from civil and mechanical engineering domains.
Farshad Khorrami Prof. Khorrami's research is in autonomous unmanned vehicles, smart structures, robotics, cyber-physical systems, high-speed positioning, large scale systems and decentralized control. He has multiple patents in micropositioning, vibration reduction, and actuator control. Prof. Khorrami heads the Control/Robotics Research Lab (CRRL).
Joo H. Kim Prof. Kim's research is in multibody system dynamics, optimization theory and algorithms, and control, with applications in robotics and biomechanical systems. His current interests include stability, energetics, and locomotion control of legged robots. Prof.Kim heads the Applied Dynamics and Optimization Lab.
The use of electromechanical, or mechatronic, solutions in automated industrial systems continues to grow. This technology is developed via multidisciplinary branches of engineering with focus on both electrical and mechanical systems to create a complete integrated design. Emphasis has expanded to include combinations of robotics, electronics, Industrial Internet of Things (IIoT) systems and controls.
This technology is ideal for many electromechanical automated systems in terms of cost, performance, reliability, efficiency, and environmental benefits. Linear motion components are a core mechanical factor of many electromechanical systems; about half of the Rockwell Automation servo motors in use are connected to linear solutions.
Robotics engineering does not restrict itself to one domain. For instance, mechanical engineers can work on a robotic system for arc welding, while electrical engineers may need robots to tackle risky, high-voltage installations.
If you wish to make a successful career in robotics, your job responsibilities will involve core knowledge of at least one of these disciplines. However, you would need a thorough understanding of other aspects too. For instance, a mechanical engineer must also know C/C++/Python/MATLAB or other programming languages to fulfill all their job responsibilities.
You might think that you need to know a lot of robotics theory and fundamentals before you can use robots in your business. This is just not true. You can get by with very little basic knowledge about robots and how they work.
2.37 Fundamentals of Nanoengineering ()(Subject meets with 2.370)Prereq: Permission of instructorUnits: 3-0-9Lecture: MW1-2.30 (3-333) Recitation: F2 (1-150)Presents the fundamentals of molecular modeling in engineering in the context of nanoscale mechanical engineering applications. Statistical mechanics and its connection to engineering thermodynamics. Molecular origin and limitations of macroscopic descriptions and constitutive relations for equilibrium and non-equilibrium behavior. Introduction to molecular simulation, solid-state physics and electrokinetic phenomena. Discusses molecular approaches to modern nanoscale engineering problems. Graduate students are required to complete additional assignments with stronger analytical content.N. G. HadjiconstantinouNo textbook information available
2.603 Fundamentals of Smart and Resilient Grids ()Not offered regularly; consult departmentPrereq: 2.003Units: 4-0-8Introduces the fundamentals of power system structure, operation and control. Emphasizes the challenges and opportunities for integration of new technologies: photovoltaic, wind, electric storage, demand response, synchrophasor measurements. Introduces the basics of power system modeling and analysis. Presents the basic phenomena of voltage and frequency stability as well technological and regulatory constraints on system operation. Describes both the common and emerging automatic control systems and operator decision-making policies. Relies on a combination of traditional lectures, homework assignments, and group projects. Students taking graduate version complete additional assignments.Staff
2.674 Introduction to Micro/Nano Engineering Laboratory ()Prereq: Physics II (GIR) or permission of instructorUnits: 1-3-2Credit cannot also be received for 2.675, 2.676Lecture: T1 (3-133) Lab: R9-12 (5-026) or R1-4 (5-026) or F9-12 (5-026) or F1-4 (5-026)Presents concepts, ideas, and enabling tools for nanoengineering through experiential lab modules, which include microfluidics, microelectromechanical systems (MEMS), and nanomaterials and nanoimaging tools such as scanning electron microscopy (SEM), transmission electron microscopy (TEM), and atomic-force microscopy (AFM). Provides knowledge and experience via building, observing and manipulating micro- and nanoscale structures. Exposes students to fluid, thermal, and dynamic systems at small scales. Enrollment limited; preference to Course 2 and 2-A majors and minors.N. Fang, S-G. Kim, B. ComeauNo textbook information available2.675 Micro/Nano Engineering Laboratory ()(Subject meets with 2.676)Prereq: 2.25 and (6.777 or permission of instructor)Units: 2-3-7Credit cannot also be received for 2.674Covers advanced nanoengineering via practical lab modules in connection with classical fluid dynamics, mechanics, thermodynamics, and material physics. Labs include microfluidic systems, microelectromechanical systems (MEMS), emerging nanomaterials such as graphene, carbon nanotubes