14.2 System design and component selection

Robotic systems are complex machines that combine hardware and software components. From mechanical structures to microcontrollers, each element plays a crucial role in creating a functional robot. Understanding how these parts work together is key to designing effective robotic systems.

Selecting the right components is vital for a robot's performance. Actuators, sensors, and controllers must be chosen based on project requirements and constraints. Materials also play a significant role, affecting a robot's strength, weight, and durability. Proper documentation through schematics and diagrams ensures clear communication of the system's design.

System Architecture and Component Selection

Architecture of robotic systems

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• Hardware components form physical structure and functionality
  • Mechanical structure provides framework and support (chassis, joints, linkages)
  • Actuators generate motion and force (DC motors, servos)
  • Sensors gather data about environment and robot state (cameras, encoders)
  • Power supply delivers energy to components (batteries, power converters)
  • Microcontrollers or single-board computers process information and control system (Arduino, Raspberry Pi)
• Software components enable robot intelligence and control
  • Operating system manages hardware resources and provides interface (Linux, RTOS)
  • Middleware facilitates communication between software modules (ROS)
  • Control algorithms regulate robot behavior and motion (PID, adaptive control)
  • Perception algorithms interpret sensor data (computer vision, SLAM)
  • Planning and decision-making modules determine robot actions (path planning, task scheduling)
• System integration connects hardware and software
  • Communication protocols enable data exchange (I2C, CAN, Ethernet)
  • Interfaces bridge hardware and software components (device drivers, APIs)
• Modularity and scalability considerations allow for future expansion and upgrades
• Fault tolerance and redundancy ensure system reliability and robustness

Selection of robotic components

• Actuators generate motion and force
  • Electric motors convert electrical energy to mechanical motion (DC, stepper, servo)
  • Hydraulic actuators use fluid pressure for high-force applications
  • Pneumatic actuators employ compressed air for lightweight, fast motion
  • Selection criteria include torque, speed, precision, and power consumption
• Sensors gather data about robot state and environment
  • Proprioceptive sensors measure internal robot state (encoders, IMUs)
  • Exteroceptive sensors detect external environment (cameras, LiDAR, ultrasonic)
  • Selection criteria include accuracy, range, resolution, and update rate
• Controllers process information and control system
  • Microcontrollers offer low-power, embedded control (Arduino, STM32)
  • Single-board computers provide higher processing power (Raspberry Pi, Jetson Nano)
  • Industrial PLCs ensure reliability in harsh environments
  • Selection criteria include processing power, I/O capabilities, and real-time performance
• Project constraints influence component selection
  • Budget limitations affect component quality and features
  • Size and weight restrictions impact component choices and design
  • Environmental conditions determine component durability (temperature, humidity, vibration)
  • Power consumption requirements influence energy efficiency of components

Materials for robotic construction

• Common materials in robotics offer various properties
  • Metals provide strength and durability (aluminum, steel, titanium)
  • Plastics offer lightweight and cost-effective options (ABS, PLA, PETG)
  • Composites combine strength and low weight (carbon fiber, fiberglass)
• Material properties affect robot performance
  • Strength-to-weight ratio determines structural efficiency
  • Stiffness and flexibility impact robot dynamics and control
  • Thermal properties influence heat dissipation and operating temperature
  • Electrical conductivity affects shielding and grounding requirements
• Manufacturing considerations impact material choice
  • Machinability determines ease of fabrication
  • 3D printability enables rapid prototyping and custom parts
  • Availability and lead times affect production schedules
• Cost analysis evaluates economic feasibility
  • Raw material costs vary widely between options
  • Processing and fabrication costs depend on material properties
  • Long-term durability and maintenance costs affect overall expenses
• Environmental impact and sustainability influence material selection

Schematics of system interconnections

• Types of diagrams illustrate different aspects of system design
  • Block diagrams show high-level system structure
  • Circuit schematics detail electrical connections
  • Wiring diagrams illustrate physical cable routing
  • Data flow diagrams represent information exchange
  • Software architecture diagrams depict code structure
• CAD software enables mechanical design visualization
  • 3D modeling tools create detailed part and assembly models (SolidWorks, Fusion 360)
  • 2D drafting tools produce technical drawings (AutoCAD)
• Electrical design tools facilitate circuit creation
  • PCB design software layouts circuit boards (KiCad, Altium Designer)
  • Circuit simulation tools analyze electrical behavior (SPICE)
• Software design tools aid in code organization
  • UML diagrams represent software structure and behavior
  • Flowcharts visualize algorithms and processes
• Documentation standards ensure consistency and clarity
  • IEEE standards guide diagram creation
  • IEC standards define schematic symbols and layouts
• Version control and collaboration tools manage design files