The document discusses robotics and summarizes key points in the following areas:
1. It describes an industrial robot with six revolute joints and two additional joints on the end effector.
2. It provides the origin and definitions of the term "robot".
3. It distinguishes between automation, which are machines for specific tasks, and robots, which can perform a variety of tasks.
4. It lists some common joint and mobility types for robots.
5. It mentions feedback control methods like encoders, cameras and sensors that robots use.
6. It provides examples of materials used in robotics like carbon nanotubes that are very strong and small micromotors.
7. It gives
2. A real industrial robot With SIX revolute joints A revolute joint has ONE degree of freedom ( 1 DOF) that is defined by its angle 1 2 3 4 There are two more joints on the end effector (the gripper)
3. “ Robot” coined by Karel Capek in a 1921 science-fiction Czech play
4. “ A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.” (Robot Institute of America) Definition: Alternate definition: “ A robot is a one-armed, blind idiot with limited memory and which cannot speak, see, or hear. ” MIT ’s Kismet: a robot which exhibits expressions, e.g., happy, sad, surprise, disgust.
10. Bending of a Carbon nanotube J.-P. Salvetat Adv. Mat. 11 , 161-65 (1999). J.-P. Salvetat Phys. Rev. Lett. 82 , 944-47 (1999). Young’s Mod. = 810GPa. Shear Mod = 1GPa. 100 times smaller than a human hair (50-100um)
13. Micromotors for robotics Watch motors: mechanical motors presently are 1-5mm in size. CNT motors are 0.01mm in size. To be used for muscle joints, grips, making robot hands. S
14. An inverted pendulum robot (Strictly for fun!) Has real applications: e.g., Segway transporter
