1a. Aula
Parte B
20:30 s 22:10
os conceitos bsicos de
Robtica:
Introduo.
Histrico.
Definies.
reas de Aplicao.
Rob - Definies
Webster (1983):
"An automatic device that performs functions
normally ascribed to humans or a machine in the
form of a human"
(1998):
Automao e Robs
Automao
e Robtica so duas
tecnologias prximas:
Automao a tecnologia que se
preocupa com o uso de sistemas
mecnicos / eltricos / computacionais
para controlar um processo de produo.
tipos de automao:
Fixa
Programvel
Flexvel.
Automao Fixa
Alto investimento.
Automao Programvel
usada quando:
Automao Flexvel
caractersticas da automao:
Fixa e
Programvel.
Tambm
chamada de
Caractersticas de um
manipulador
Caractersticas Bsicas
Algumas
Rotaes
Roll (rotao ao redor de X)
Yaw (ao redor de Y) e
Pitch (ao redor de Z)
of Freedom - Definio:
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Envelope de Trabalho
Definio:
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Envelope de
Trabalho
Humanide
(NASA)
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Resoluo
Definio:
Resoluo (II)
Resoluo
do programa:
Resoluo (III)
Resoluo
do controle:
Resoluo (IV)
Acurcia
Definio:
A habilidade do rob posicionar o atuador em uma
posio do espao.
Acurcia
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Repetibilidade
Definio:
A habilidade do rob retornar consistentemente a uma
posio previamente alcanada.
Repetibilidade
Repitibilidade
Resoluo, acurcia e
repetibilidade.
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Carga e tamanho
Carga
(Payload):
Flexibilidade esttica
(Compliance)
Definio:
Deslocamento do atuador em resposta a uma fora ou
torque exercido sobre o mesmo.
Overshoot
Definio:
Configuraes de Robs
Manipuladores
Configuraes de manipuladores
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Manipuladores Retangulares
As juntas
prismticas
esto geralmente
a 90 graus.
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Rob Gantry
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Retangulares: Vantagens e
Desvantagens
Vantagens:
Facilidade de visualizao
Facilidade de programao.
Estrutura rgida.
Grande rea de trabalho em mesas.
Desvantagens:
Manipuladores Cilndricos
Movimento
por meio de
coordenadas cilndricas:
Altura
Rotao
Extenso do
brao
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Cilndricos: Vantagens e
Desvantagens
Vantagens:
Consegue alcanar todo seu entorno.
Eixos rgidos
Eixos de rotao de fcil construo.
Desvantagens:
No consegue alcanar o ponto imediatamente
acima do manipulador.
No consegue ultrapassar obstculos.
Movimentos na horizontal so circulares.
Manipuladores Esfricos
Movimento
por meio de
coordenadas polares:
Rotao
Tilt
Extenso do brao.
Unimation
era polar.
Manipuladores esfricos
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Esfericos: Vantagens e
Desvantagens
Vantagens:
Manipuladores Articulados
Manipulador
Manipuladores Articulados
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Articulado: Vantagens e
Desvantagens
Vantagens:
Manipulador SCARA
Manipulador
Manipulador SCARA
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SCARA: Vantagens e
Desvantagens
Vantagens:
Manipulador Paralelo
Outra
categoria
de robs
Geralmente
no so
considerados
manipuladores,
por no ter a
forma de um
brao.
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Manipulador Paralelo
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Manipulador Paralelo
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Manipulador Paralelo
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Classificao de robs
Classificao de Robs
Pode-se
Classificao de Robs
Pode-se
Humanides:
Bpedes com cabea, tronco, braos e pernas.
5 geraes de robs:
5 geraes de robs:
Aplicaes
Dull,
Dirty,
Dangerous, e
Difficult.
custos de trabalho
Eliminar trabalhos perigosos
Aumentar taxa de produo
Melhorar a qualidade do produto
Aumentar flexibilidade do produto
Reduzir desperdcio de material
Reduzir custo de capital
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Aplicaes de Robs
Pode-se
dividir as aplicaes em 3
grandes categorias:
Bem estabelecidas, baseadas em
manipuladores.
As aplicaes de ponta, baseadas em
robs mveis.
As possveis aplicaes futuras, baseadas
em robs mveis e humanides.
Pintura
Solda
Montagens simples.
AGV - Autonomous Guided vehicles
Consumidores:
Indstria Automobilstica
Indstria Eletroeletrnica.
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ONU,2004
ONU,2004
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Solda Ponto
30%
Manipulao de
material
27%
Remoo de
Material
4%
Solda por arco
12%
Pintura
20%
AGV
Newest generation
of Automatic Guided
Vehicle of VOLVO
used to transport
motor blocks from on
assembly station to
an other.
It is guided by an
electrical wire
installed in the floor
but it is also able to
leave the wire to
avoid obstacles.
There are over 4000
AGV only at
VOLVOs plants.
Explorao:
Espacial
Submarina
Ambientes Perigosos
Medicina:
Assistentes em cirurgias.
Entretenimento.
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Electrolux Trilobite
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LimpadorQuickTime
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Dolphin
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Robodoc
ThiswasacollaborativeeffortbetweenIBMResearchandsurgeonsand
researchersattheUniversityofCaliforniaatDavis.
Binica
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Futuras Aplicaes
Robs Universais:
Robs para qualquer tipo de tarefa.
?
Futuras Aplicaes
By
"Falling
Finalmente.
Robtica
mistura:
Metodologia,
Fsica,
Matemtica,
Controle
Concluso
10 mais
que voc
no pode
deixar de
ver
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Metropolis (1927).
O Dia em que a Terra Parou (1951).
Forbidden Planet (1956).
2001 (1968).
Futureworld (1976).
Alien e Alien Ressurection (1979).
Blade Runner (1982).
Trilogia Exterminador do Futuro (84,91,03,?)
Trilogia Matrix (99,03,03)
Hexalogia Guerra nas Estrelas (77, 80, 83, 99, 02, 05).
10 livros de robs
10 sries de televiso
Os Jetsons.
Perdidos no Espao.
Transformers.
O Homem de 6 milhes de dlares.
Galactica (1980 e 2000)
Jornada nas Estrelas.
Buck Rogers no sculo 25.
Super Mquina.
Futurama.
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are needed to see this picture.
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TIFF (Uncompressed) decompressor TIFF (Uncompressed) decompressor TIFF (Uncompressed) decompressor TIFF (Uncompressed) decompressor
are needed to see this picture.
are needed to see this picture.
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andaa
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TIFF
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(Uncompressed)decompressor
decompressorTIFF
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picture.
http://www.ai.sri.com/videos/
http://www.faculty.ucr.edu/~currie/roboadam.htm
http://www.cs.bham.ac.uk/research/robotics/cbbc/histor
y.php
http://www.robots.org/newslttr/news0497/met0497a.htm
http://www.rurobots.co.uk/
http://www.unece.org/press/pr2004/04robots_index.htm
http://www.christianitytoday.com/movies/commentaries/
top10movierobotsofalltime.html
Links
http://www.techeblog.com/index.php/techgadget/top-10-coolest-robots
http://www.techeblog.com/index.php/techgadget/top-10-strangest-robots
http://www.newscientist.com/popuparticle.ns?
id=in124
http://www.portalmix.com/cine/top10/robots/
http://www.yesbutnobutyes.com/archives/200
6/01/the_top_ten_sex.html