Introduction to Robotic Arms
Lesson Overview
Media: Video (19 minutes)
Seat Time: 7 Classes | 200 minutes teaching
Goal:
To understand the fundamental principles, systems and subsystems of robot arms and how they are controlled.
Description:
This lesson covers the different systems and subsystems comprising a robot arm, how gears and linkages are used, and how feedback loops provide information to computers to safely control and operate these automated systems.
Objectives:
1. To identify the key components of a robotic arm system.
2. To describe how gears, gear ratios, torque and linkages translate motion throughout the joints of a robot arm system.
3. To apply knowledge of gears, linkages, sensors, feedback control loops and computers to control a robot arm system.
4. To safely operate a robotic arm system.
Class 1
Class Overview:
Fundamental Principles of Robotic Arms Video Segment
Action Plan
Vocabulary Handout
Key Concepts
Fundamental Principles of Robotic Arms Check for Understanding
Robot Arm Components Poster Project
Essential Questions:
1. What are the main components in a robot arm?
2. How do the components of a robot arm system work together?
Step 1: Bell Ringer:
· Have the class brainstorm to develop a list of different uses for robotic arms. Keep this list somewhere for the class to reference again at the end of class.
Step 2: Distribute the Action Plan, Vocabulary Handout and Key Concepts.
· The Action Plan lays out a list of tasks for students to complete during the lesson.
· The Vocabulary Handout is a list of terms used throughout the lesson.
· The Key Concepts is an outline which identifies the main ideas presented in the lesson which students can fill in to aid in note taking during the lesson.
Step 3: Show the Fundamental Principles of Robotic Arms video segment.
· This video is six minutes long.
· Be sure to utilize the Key Concepts for this segment of the lesson.
Step 4: Administer the Fundamental Principles of Robotic Arms Check for Understanding.
· The Check for Understanding is a short review of the content presented in the segment.
Step 5: Students should begin the Robot Arm Components Poster Project.
· Students will create a poster to highlight the various components and subsystems of a robot arm and explain how the robot arm is manipulated by a computer or controller.
· In this class, research and identify which robot arm will be the focus of their poster.
Step 6: Exit Ticket:
· Students will share the robotic arm they are using for their project. Add any new uses to the list created at the beginning of class.
Class 2
Class Overview:
Action Plan
Robotic Sensors ID Bell Ringer Activity
Robot Arm Components Poster Project
Step 1: Bell Ringer:
· Students should complete the Robotic Sensors ID Bell Ringer Activity.
Step 2: Students should continue the Robot Arm Components Poster Project.
· Students will create a poster to highlight the various components and subsystems of a robot arm and explain how the robot arm is manipulated by a computer or controller.
· In this class, students should research and develop a draft of their poster.
Step 3: Exit Ticket:
· Students should swap poster drafts with a partner to get feedback on their content and appearance.
Class 3
Class Overview:
Action Plan
Robot Arm Components Poster Project
Step 1: Bell Ringer:
· Students should develop a short to-do list of what they need to accomplish to finish their Robot Arm Components Poster Project by the end of class.
Step 2: Students should continue the Robot Arm Components Poster Project.
· Students will create a poster to highlight the various components and subsystems of a robot arm and explain how the robot arm is manipulated by a computer or controller.
· In this class, students should create and finalize their poster.
Step 3: Exit Ticket:
· Students should place their finalized poster around the room for others to view. If time allows, host a short gallery walk for students to give feedback on others’ posters.
Class 4
Class Overview:
Gears & Linkages Video Segment
Action Plan
Key Concepts
Gears & Linkages Check for Understanding
Build an End Effector Project
Essential Questions:
1. How do gears and linkages affect the torque output and payload capabilities of a robot arm?
2. How are linkages and actuators used to create effective robot arm end effectors?
Step 1: Bell Ringer:
· Students should sketch a robot arm gripper which could be used to pick up a raw egg without breaking it. Ask students to label what specific aspects of their design would ensure the raw egg is securely held without crushing it. Be sure to have students save their sketch to revisit for the end of class.
Step 2: Show the Gears & Linkages video segment.
· This video is eight minutes long.
· Be sure to utilize the Key Concepts for this segment of the lesson.
Step 3: Administer the Gears & Linkages Check for Understanding.
· The Check for Understanding is a short review of the content presented in the segment.
Step 4: Students should begin the Build an End Effector Project.
· Students will work with a partner to build a robot arm end effector and wrist to grip objects using gears or linkages, sensors and a computer control scheme.
· In this class, students should complete Part I of the project.
Step 5: Exit Ticket:
· Have students revisit their sketch from the beginning of class and add any gears or linkages they think would help design a gripper pick up a raw egg without breaking it.
Class 5
Class Overview:
Action Plan
Build an End Effector Project
Step 1: Bell Ringer:
· Have students meet with their partner from the Build an End Effector Project and develop a list of tools and materials they need to build their prototype.
Step 2: Students should continue working on the Build an End Effector Project.
· Students will work with a partner to build a robot arm end effector and wrist to grip objects using gears or linkages, sensors and a computer control scheme.
· In this class, students should complete Part II of the project.
Step 3: Exit Ticket:
· Students should put away all tools and materials used during the class period.
Class 6
Class Overview:
Robot Arm Operation & Control Video Segment
Action Plan
Key Concepts
Robot Arm Operation & Control Check for Understanding
Build an End Effector Project
Essential Questions:
1. What precautions should be taken to ensure robot arms are implemented in a safe and reliable way?
2. How are feedback control loops used to control the movement of robotic arms?
Step 1: Bell Ringer:
· Quick Write: Students should respond to the following prompt in four to six sentences:
- Imagine you are writing a training manual for a new operator of an industrial robot arm. Describe safety concerns or hazards for the operator and create a pre-operation checklist before the robot arm is enabled.
Step 2: Show the Robot Arm Operation & Control video segment.
· This video is five minutes long.
· Be sure to utilize the Key Concepts for this segment of the lesson.
Step 3: Administer the Robot Arm Operation & Control Check for Understanding.
· The Check for Understanding is a short review of the content presented in the segment.
Step 4: Students should continue the Build an End Effector Project.
· Students will work with a partner to build a robot arm end effector and wrist to grip objects using gears or linkages, sensors and a computer control scheme.
· In this class, students should focus on Part III of the project.
Step 5: Exit Ticket:
· Guide the class through the development of a pre-operation checklist for the operator of a robot arm. Keep this checklist available as a reference for the following classes.
Class 7
Class Overview:
Action Plan
Introduction to Robotic Arms Final Assessment
Build an End Effector Project
Step 1: Bell Ringer:
· Have students find a partner to quiz each other on stability calculations and robot arm construction to review for the Final Assessment.
Step 2: Administer the Introduction to Robot Arms Final Assessment.
· The Final Assessment is a comprehensive assessment covering material throughout the entire lesson.
Step 3: Students should complete the Build an End Effector Project.
· Students will work with a partner to build a robot arm end effector and wrist to grip objects using gears or linkages, sensors and a computer control scheme.
· In this class, students should complete Part III of the project.
Step 4: Exit Ticket:
Project Overview
Robot Arm Components Poster
Students will research existing robot arm systems and subsystems to identify one of interest to them. They will identify general information about the arm as well as specific components such as joints, actuators, end effectors, sensors, power supply and feedback control loops. Synthesizing the information from their research, students will develop a poster to identify and describe each element.
Accommodations:
Provide students with a resource to use focused on the design and elements of a specific robot arm. Give students a poster template to guide their layout.
Modifications:
Provide students with a completed poster for them to review and summarize.
Extension:
Students can present their completed posters to the class or at a gallery-style activity.
Build an End Effector
Students will use their engineering design skills to design and build a robot end effector and wrist capable of manipulating three different types of sample objects. In their design, students will need to incorporate gears or linkages, sensors and feedback control loops to successfully grasp the different objects. Before starting this project, identify the three objects students will be testing the gripper with (sphere, cube and cylinder) and identify the allowed tools and materials students can use for the build. Students should document their design process in a separate Engineering Notebook. As students progress through Part III of the project, they will design and implement a control scheme to operate the robotic arm system. Be sure students use best practices to test and operate the system.
This project may vary widely in time depending on the components being used and student proficiency. Advanced students may tackle this activity completely from scratch. Novice students will benefit from using a commercially available prototyping system, such as interlocking bricks with compatible actuators or other plug-and-play classroom robotics kits. For Part III of the project, if students were not able to develop an accurate robot arm end effector and wrist to operate, consider using a prebuilt system with a computer or controller, actuators and sensors.
Supplies List:
· Programmable controller
· Sensors (color, distance, force)
· Gears
· Raw materials (plastic, wood or metal bars; 3D printer and filament; commercially-available prototyping system)
· Spherical sample item
· Cubical sample item
· Cylindrical sample item
· Computer
Accommodations:
Students may be allowed additional time to work on their project. Provide students with a prototyping system or kit to use to build their robotic arm system. Give students pseudocode or sample code to start with for building their feedback control system.
Modifications:
Provide students with an existing design they can evaluate and modify. Parts II and III may require time extensions, depending on students’ understanding of concepts and available materials.
Extension:
Students can modify their designs to add additional degrees of freedom or revise their designs based on testing results. Students can add additional sensors or increase the autonomous functionality to manipulate all three objects in sequence.
Career & Technical Student Organizations
FIRST Robotics
VEX Robotics
Marine Advanced Technology Education (MATE) International ROV Competition
National Institute of Metalworking Skills (NIMS)
HOSA
Medical Innovations
SkillsUSA
Additive Manufacturing
Automated Manufacturing Technology
Engineering Technology/Design
Career Connections
Using the Career Connections Activity allows students to explore careers associated with this lesson by viewing career interviews with various industry professionals. The career interviews are located on the Select Playlist drop down menu on the lesson page. See the Career Connections Activity for more details.
Derek Logan, Project Engineer, Nissan Technical Center North America
