Overview

The electromechanical system is designed in an

integrated manner So far we have seen how to define a mechanical system to create a certain movement. We will need to apply this knowledge to create a system that not only accomplishes a desired task, but it does it without complicating the controls, minimizing the sensors, actuators, etc. (Example: Cartesian parallel robot, IK of spherical joint,) => optimal final product (in energy consumption, number of parts, performance,)

Overview

Mechanical system: System model (kinematics) Dynamic response Sensors Actuators Control theory Microcontrollers

Robot projects
Serial manipulators:
RRP robot (see model)

Other architectures
Lynx 5 robotic arm: 4 joints + gripper, $275

Robot projects
JoinMax kit, six degrees of freedom, $200

Redundant serial manipulators (snake-like robots)

Robot projects
Parallel manipulators:
Legged robots: Extreme hexapod kit, $280

A couple of cheap parallel manipulators

Lego 3-RRR

Robot projects
Planar 3-RPR

Cable-based parallel robot

Robot projects
Mobile robots: Octobot survivor: 2-wheeled, differential drive
robot: $200

Basic carpet rover, differential drive: $100

Robot projects
Mobile robots: Omni-wheeled (each wheel $42; you can find
lower quality for $15):

Arrick mobile robot, uses basic Stamp, $250

Robot projects
Hybrid robots: Serial manipulator on mobile robot

Robot specifications

See instructions octobot

Parts
Available
RRP robot, half finished Basic STAMP microcontrollers (4) LEGO Mindstorm kits (1)

Expensive parts
Actuators
High-torque geared motor $40 (but small motors can be cheap, $5-10)

Microcontrollers (Basic Stamp $50150; HandyBoard $100-200)

Parts
Cheap parts
Wheels:
CD wheel: free Castor wheel: $5

Sensors:
Microphone $3 Infrared emitter + detector $3 Micro switch $1 Photo-resistor $1 Photo reflector to work with encoder wheels $5 Hall-effect sensor $5 Tilt sensor $3

Parts
Cheap parts
Mechanical parts:
Pulley set $10 Plastic gears $1 Belts $1 Bearings $2 Hex shaft set $9 Gear box $10 Spherical joints $7-15 Push-pull cables $10-15

Parts
Other miscellaneous
Fan $20

Motion detector $25 Sonar sensor $30-60 Magnetic compass $45

Requirements
Modular (re-usable parts) Use kinematics / dynamics models Total cost < $200 (including sensors / actuators / microcontrollers) Designed for a task or set of tasks.

Suppliers + resources
(consider delivery time!)
Radio Shack (www.radioshack.com) www.robotstorehk.com http://gleasonresearch.com/ http://www.allelectronics.com/ http://www.robotstore.com/ http://www.bpesolutions.com/