robotics Flashcards
4 features of jobs first generation robots were designed for
Highly repetitive
Dull
Dangerous
Dirty
3 classifications of robot by mobility
Fixed robot manipulators
mobile robots
Hybrid robots
3 features of new generation robots
Embodied intelligence or AI
Acts on or is in the world
sense the world
6 research challenge of robots
Autonomy
nano/micro robots
biological inspired robots
social robots
swarm robots
safety and ethical
8 social challenges
AI
impact and benefits
safety issues
coexisting with robots
military and healthcare
perception
privacy
mis use
3 laws of robot ethics
- robot must not injure a human or allow a human to come to harm
- A robot must obey orders from humans
- Protect its own existence
4 new algorithms of human robot interaction
fleet of self assembling robots
collaborative robots
physical assistance
learning robots
8 uses of healthcare robotics
Training
Research
end of life care
treatment
keeping well
early detection
diagnosis
decision making
4 main types of medical robot
navigation
motion replication
imaging
Rehabilitation and prosthetics
most common type of medical robot
surgical
3 types of robot primary power
Electric voltage
Hydraulic fluid
Pneumatic air
stall torque is
the amount of rotational force produced
when the motor is stalled at its recommended operating
voltage, drawing the maximum stall current at this
voltage
3 advantages of brushless dc motors
brushless
faster rate of voltage and current
precision voltage and current applied to coils
what are 4 advantages of having no brushes on motors
increased relibility and efficiency
longer life
elimination of sparks from the commutator
reduced friction
4 disadvantages of brushless dc motors
Requires Complex Drive Circuitry
Requires additional Sensors
Higher Cost
Some designs require manual labour (Hand wound Stator Coils)
3 advantages of servo motors
- Closed-loop mechanism that controls the rotational or linear speed and
position. - Maintain relatively constant torque at high speeds
- Good accuracy
2 disadvantages of servo motors
- Tuning a motor control loop can be difficult
- High spec servos can be expensive
3 advantages of stepper motor
- Position control without a position sensor
- Controlled by digital signals – suitable for robotics
- High stall torques when stationar
4 disadvantages of stepper motor
- Can miss steps if accelerated too fast – lost position/velocity precision
- Torque reduces at higher speeds
- Excessive vibrations (unless microstepping is used)
- More complex driving electronics than DC
4 advantages of hydraulic actuators
High power to weight ratios
convenient and smooth method of power transmission
force control is easier
high force density
3 disadvantages of hydraulic actuators
fire hazard is leaks
require maitenance
bulky
4 advantages of pneumatic systems
weight
simpicity
no leak problems
Big forces with elasticity
3 disadvantages of pneumatic systems
spacious
sealing limits on pressure
air is compressible
wht is a shape malleable alloy
100% deformable when cold
returns to shpe when heated
8 advantages of surgical robots
- Improved Accuracy
- Operating in a radiation field
- Better reach inside the body
- 3D vision
- Ergonomic design
- Improve surgeon’s technical capability
- Works alongside surgeon
- Consistency and metrics
4 disadvantages of surgical robots
- High cost
- Additional staff training
- Lack of randomized controlled trials
- Safety issues
5 comparitivie points for human vs robotic surgeon
judgement
integrate multiple sources
natural coordiantion
seeing through tissue
improvisation
4 reasons why neurosurgery has most robotic advancement
- Brain firmly held in a solid container to which a robotic device is
held in position - Brain anatomy is fairly stable
- Brain imaging highly developed
- The highest precisions required for brain surgeries
how cn the need for some one o hold the camera in surgery be eliminated
laparoscopic camera holder
advantages of da vinci system
removes tremors
3d magnification
disadvantages of da vinci system
- Size & mobility
- Tactile feedback
- Cost (>£1M)
- Long training times for surgeons
- Long setting up time
3 surgical specialities
forces used in surgery- feedback
safety nd visualisation
dexterity and tele-control
whats measured to test muscle movement
electromyography
Transducer
Mechanism that transforms the
energy associated with what is
being measured into another form
of energy
Passive Sensor
Environment provides
medium/energy for
observation (e.g., ambient
light for computer vision)
Active sensor
Puts out energy into the
environment to either change
energy or enhance it (e.g. sonar)
Active sensing
Using an effector to dynamically position a
sensor for a “better look”
4 sensor outputs
electronics
image
signal processing
computation
What are inertial mesurement units
Estimates position, orientation and usually velocities and accelerations
Aspects of GPS
signal may be unreliable
unobstructed line of sight stelites
depends on atmopheric conditions
can pass through glass and plastic
can provde 1-2m accuracy and faster updates
4 disadvantages of ultrasound sensing
susceptible to specular refection
graze the surface and not return
may collide with a wall if pproaching at a steep angle
humidity creates noisy measurements
Laser Range finders principles
Same as sonar but with light
Advantages of surgical robots
improved accuracy
operating in a radiation field
better reach
3d vision
ergonomic design
improve technical capability
Disadvantages of surgical robots
High cost
Additional staff training
lack of randomized controlled trials
safety issues
principles of functional electrical simulation
activate paralysed limbs
low level electrical current
peripheral nerves control specific muscles
potential application with robot and nerve systems
can reteach control movements
adaptive robotic controller
can help maximise neural recovery
3 applictions of medical robots
endoscopy
surgical
rehabilitative
limitations of endoscopy
instruments have only 2 dof
no tactile feedback
no positional feedback
only tip is steerable
requiremnets for an endoscopy robot
Delicate manoeuvres in confined spaces
excellent hand-eye coordination
hand dexterity and postional accuracy
long learning time for doctors
requirements of mini mainpulators
provide bending
embedded actuators
continuous backbone(snake like)
limits of medical actuation
mechanical linkages bulky
cable drives
medical simulation types
computer based simulation
digitally enhanced mannequins
virtual reality simulators
