1. Robotic Circuit Components
Adapted from a presentation originally made available by Sookram Sobhan, Polytechnic University

2. Systems for Robotics
Typical knowledgebase for the design and operation of robotics systems
Dynamic system modeling and analysis
Structural Components
Feedback control
Sensors and signal conditioning
Actuators and power electronics
Hardware/computer interfacing
Computer programming

3. Key Components Power conversion unit Sensors Actuators Controller
User interface
Manipulator linkage
Base

4. Robot Mechanism: Mechanical Elements
Gear, rack, pinion, etc.
Cam and Follower
Inclined plane wedge
Chain and sprocket
Lever
Slider-Crank
Linkage

5. Using Piezoelectric Effect
Sensors: I
Human senses: sight, sound, touch, taste, and smell provide us vital information to function and survive
Robot sensors: measure robot configuration/condition and its environment and send such information to robot controller as electronic signals (e.g., arm position, presence of toxic gas)
Robots often need information that is beyond 5 human senses (e.g., ability to: see in the dark, detect tiny amounts of invisible radiation, measure movement that is too small or fast for the human eye to see)
Accelerometer
Using Piezoelectric Effect
Flexiforce Sensor

6. Sensors: II
Vision Sensor: e.g., to pick bins, perform inspection, etc.
Part-Picking: Robot can handle work pieces that are randomly piled by using 3-D vision sensor. Since alignment operation, a special parts feeder, and an alignment pallete are not required, an automatic system can be constructed at low cost.
In-Sight Vision Sensors

7. Sensors: III
Force Sensor: e.g., parts fitting and insertion, force feedback in robotic surgery
Parts fitting and insertion: Robots can do precise fitting and insertion of machine parts by using force sensor. A robot can insert parts that have the phases after matching their phases in addition to simply inserting them. It can automate high-skill jobs.

8. Infrared Ranging Sensor
Sensors: IV
Example
Infrared Ranging Sensor
KOALA ROBOT
6 ultrasonic sonar transducers to explore wide, open areas
Obstacle detection over a wide range from 15cm to 3m
16 built-in infrared proximity sensors (range 5-20cm)
Infrared sensors act as a “virtual bumper” and allow for negotiating tight spaces

9. Sensors: V Tilt sensors: e.g., to balance a robot Example
Planar Bipedal Robot

10. Actuators: I
Common robotic actuators utilize combinations of different electro-mechanical devices
Synchronous motor
Stepper motor
AC servo motor
Brushless DC servo motor
Brushed DC servo motor

11. Actuators: II Pneumatic Cylinder Hydraulic Motor Stepper Motor
DC Motor
Pneumatic Motor
Servo Motor

12. Controller
Provide necessary intelligence to control the manipulator/mobile robot
Process the sensory information and compute the control commands for the actuators to carry out specified tasks

13. Controller Hardware: I
Storage devices: e.g., memory to store the control program and the state of the robot system obtained from the sensors

14. Controller Hardware: II
Computational engine that computes the control commands
Arduino Uno Microcontroller
BASIC Stamp 2 Module

15. Controller Hardware: III
Interface units: Hardware to interface digital controller with the external world (sensors and actuators)
Operational Amplifiers
Analog to Digital Converter
LM358
LM358
LM1458 dual operational amplifier

16. Solenoid Valves
A solenoid valve is an electromechanically operated valve. The valve is controlled by an electric current through a solenoid: in the case of a two-port valve the flow is switched on or off; in the case of a three-port valve, the outflow is switched between the two outlet ports.
Solenoid valves are the most frequently used control elements in fluidics. Their tasks are to shut off, release, dose, distribute or mix fluids. They are found in many application areas. Solenoids offer fast and safe switching, high reliability, long service life, good medium compatibility of the materials used, low control power and compact design.

17. Solenoid Valves
Solenoid Valve

18. Fuses
A fuse is a type of low resistance resistor that acts as a sacrificial device to provide overcurrent protection. Its essential component is a metal wire or strip that melts when too much current flows, which interrupts the circuit in which it is connected. Short circuit, overloading, mismatched loads or device failure are the prime reasons for excessive current.
A fuse interrupts excessive current (blows) so that further damage by overheating or fire is prevented.

19. Fuses
Fuses

20. Relays
Electrical devices that as they have current flowing through them in one circuit can switch on and off a current in a second circuit.

21. Power Converters
A power converter is an electrical or electro-mechanical device for converting electrical energy. It may be converting AC to or from DC or just changing the voltage or frequency, or some combination of these.
Power Converter undergoing Test