Robotics Drive Selection

This lecture covers two paradigms for robotics: industrial robots with precise control and outdoor robots dealing with surprises. It delves into components like motors, gears, sensors, and controllers, emphasizing the importance of low mechanical time constants, high torque density, and fast, accurate sensors. The lecture explores the challenges in achieving motion precision, the limits imposed by software, and the role of sensors in different robot applications. It also discusses the design considerations for exoskeletons, end-effectors, grippers, soft robotics, and various types of robots, such as autonomous, surgical, industrial, cobots, humanoid, underwater, and flying robots. The presentation concludes with recommendations for robotic drive selection and solutions to common issues faced in robotic systems.