Robot Design Tutorial

MECHATRONICS SYSTEM DESIGN

LAB 2

Waqas Ehsan
M. Usman Rafique

Organization
Drive Types
Material Selection

Mechanical Design and Analysis

Motor Selection

DRIVE TYPES
Differential Drive
Ackerman Drive

Omni Wheel Drive

DIFFERENTIAL DRIVE

DIFFERENTIAL DRIVE
Left and right wheels are driven independently

Speed and direction

controlled by varying
left and right wheel
speed

DIFFERENTIAL DRIVE

DIFFERENTIAL DRIVE

Example
Analyze effect of b on
robot control

ACKERMAN DRIVE

ACKERMAN DRIVE
Car-like drive system
Rear wheels are fixed

Front wheels can steer to change the direction of the

vehicle

ACKERMAN DRIVE
Linear Speed

Angular Speed

Steering Angle

Example Analyze Effect of Wheel base L

Linear Speed

Angular Speed

Steering Angle

OMNI WHEEL DRIVE

OMNI WHEEL DRIVE

Omni wheels or omni-directional wheels mean the

wheels that can move in any direction

General wheels can only move in one direction.
No movement perpendicular to the direction of wheel
Different combinations are used
Three Wheeled Drive System

Four Wheeled Drive System

OMNI WHEEL DRIVE

Three Wheeled Drive System

OMNI WHEEL DRIVE

Example Effect of la on Robot Motion

OMNI WHEEL DRIVE

Four Wheeled Drive System

OMNI WHEEL DRIVE

OMNI WHEEL DRIVE

Example
Analyze effect of la and lb
on robot motion

MATERIAL SELECTION
How to select material?
What are the important parameters?

MATERIAL SELECTION
What are the important parameters?
Strength
Weight / Density

Cost
Availability etc etc

How to select a material?

MATERIAL SELECTION CHARTS

Example Select Cheap and Strong Material

Example Select Expensive and Strong Material

MATERIAL SELECTION CHARTS

Example Select Light and Strong Material

Material Selection Charts

Many other material selection charts are commonly

available on internet

Mechanical Design and Analysis

Mechanical Design and Analysis

Dont Overdesign

Analysis
Max Deflection
Max Stress

Any other relevant analysis

Mechanical Design and Analysis

Softwares for Analysis

Ansys
For detailed analysis
Pro-E
SolidWorks
Any other software package

Motor Selection
How to select a motor?

Motor Selection
Basic Selection Criteria

Torque Requirement
2. Speed requirement
3. Torque vs. Speed Graph
4. Gear Reduction
1.

Motor Selection

Torque Requirement
Torque = Force x Distance
F=N
is coefficient of static friction
N=mg
N is the mass of the robot
F=mg
Distance = R
R is the radius of the wheel

Example
Torque = Force x Distance
F=N
is coefficient of static friction
N=mg
N is the mass of the robot
F=mg
Distance = R
R is the radius of the wheel

Torque Requirement

Speed Requirement

Speed Requirement

Example

Torque Speed Graph

Torque Speed Graph

Gear Reduction