14.2 System design and component selection
3 min read•july 25, 2024
Robotic systems are complex machines that combine hardware and software components. From mechanical structures to , 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. , , and must be chosen based on project requirements and constraints. 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)
- 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
- manages hardware resources and provides interface (Linux, RTOS)
- facilitates communication between software modules (ROS)
- regulate robot behavior and motion (PID, adaptive control)
- interpret sensor data (computer vision, SLAM)
- Planning and determine robot actions (path planning, task scheduling)
- System integration connects hardware and software
- enable data exchange (I2C, CAN, Ethernet)
- bridge hardware and software components (device drivers, APIs)
- and considerations allow for future expansion and upgrades
- and ensure system reliability and robustness
Selection of robotic components
- Actuators generate motion and force
- convert electrical energy to mechanical motion (DC, stepper, servo)
- use fluid pressure for high-force applications
- employ compressed air for lightweight, fast motion
- include torque, speed, precision, and power consumption
- Sensors gather data about robot state and environment
- measure internal robot state (encoders, IMUs)
- 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 (Raspberry Pi, Jetson Nano)
- Industrial PLCs ensure reliability in harsh environments
- Selection criteria include processing power, , and
- 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
- determines structural efficiency
- and impact robot dynamics and control
- influence heat dissipation and operating temperature
- affects shielding and grounding requirements
- Manufacturing considerations impact material choice
- determines ease of fabrication
- 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
- show high-level system structure
- detail electrical connections
- illustrate physical cable routing
- represent information exchange
- depict code structure
- 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
- layouts circuit boards (KiCad, Altium Designer)
- analyze electrical behavior (SPICE)
- Software design tools aid in code organization
- represent software structure and behavior
- visualize algorithms and processes
- ensure consistency and clarity
- IEEE standards guide diagram creation
- IEC standards define schematic symbols and layouts
- Version control and collaboration tools manage design files
Key Terms to Review (45)
3D Printability: 3D printability refers to the ability of a design or material to be effectively manufactured using 3D printing technology. This concept encompasses various factors, such as geometric complexity, material properties, and the printing process itself, which collectively influence the feasibility and quality of the final printed object. Understanding 3D printability is essential for selecting components and designing systems that optimize production efficiency and ensure the structural integrity of printed parts.
Actuators: Actuators are devices that convert energy into physical motion, playing a crucial role in the operation of robotic systems. They can be powered by various energy sources, such as electrical, hydraulic, or pneumatic systems, and are responsible for moving or controlling mechanisms or systems. Actuators enable robots to interact with their environment and perform tasks by translating commands from the control system into physical movements.
Block Diagrams: Block diagrams are visual representations of a system that use blocks to illustrate components and arrows to show the relationships and interactions between these components. They help in understanding complex systems by simplifying the representation of processes, making it easier to analyze system designs and select appropriate components.
CAD Software: CAD software, or Computer-Aided Design software, is a tool used to create precise drawings and technical illustrations in various fields, including engineering, architecture, and robotics. It allows users to visualize and simulate designs in a digital format, enhancing the process of system design and component selection by enabling rapid modifications and accurate modeling of complex systems.
Circuit schematics: Circuit schematics are graphical representations of electrical circuits, showing the connections between components using standardized symbols. They provide a clear and organized way to visualize how a circuit is designed, making it easier to understand and communicate ideas related to system design and component selection.
Circuit simulation tools: Circuit simulation tools are software applications designed to model and analyze electrical circuits without the need for physical prototypes. These tools enable engineers and designers to test circuit behavior, performance, and interactions among components in a virtual environment, significantly speeding up the design process and reducing costs. They also help in identifying potential issues early on, which is crucial during system design and component selection.
Communication protocols: Communication protocols are established rules and conventions that dictate how data is transmitted and received between devices in a network. They ensure that different systems can understand each other by specifying the format, timing, and error handling of messages exchanged, which is crucial for effective interaction in both swarm robotics and multi-robot systems as well as in system design.
Control algorithms: Control algorithms are systematic methods used to regulate and manipulate the behavior of dynamic systems, ensuring that the desired output is achieved based on specific input parameters. These algorithms play a crucial role in achieving stability, accuracy, and performance in various applications, including robotics, automation, and embedded systems. By selecting the appropriate control algorithms, designers can optimize system response and efficiency while accommodating real-world constraints.
Controllers: Controllers are devices or systems that manage and regulate the behavior of other components within a robotic system. They act as the brain, processing inputs from sensors, making decisions based on programmed algorithms, and issuing commands to actuators to achieve desired actions. In the context of system design and component selection, controllers play a crucial role in ensuring that all parts of the robotic system work together efficiently and effectively.
Data Flow Diagrams: Data Flow Diagrams (DFDs) are visual representations that illustrate how data moves through a system, highlighting the flow of information between processes, data stores, and external entities. They help in understanding how data is processed and where it originates and terminates, making them essential for system design and component selection as they clarify relationships between various components and aid in identifying system requirements.
Decision-making modules: Decision-making modules are systems or components within robotics that evaluate data and determine the most appropriate actions or responses based on specific criteria. These modules play a critical role in enabling autonomous behavior, allowing robots to assess their environment, weigh options, and execute decisions that align with their programming or objectives. Understanding how these modules are designed and integrated is essential for optimizing robotic performance.
Documentation standards: Documentation standards refer to a set of guidelines that dictate how technical information, design specifications, and project documentation should be created, formatted, and maintained. These standards ensure clarity, consistency, and accessibility of information, making it easier for teams to collaborate and for future reference during system design and component selection. Adhering to documentation standards is essential for effective communication among stakeholders and for the successful implementation of projects.
Electric motors: Electric motors are devices that convert electrical energy into mechanical energy through electromagnetic interactions. They play a crucial role in robotics by providing the motion and force needed for various tasks, enabling robots to perform precise movements and operations. Understanding electric motors is essential for designing effective end-effectors and selecting appropriate components in robotic systems.
Electrical Conductivity: Electrical conductivity is a measure of a material's ability to conduct an electric current. This property is crucial in system design and component selection, as it influences how efficiently electrical components can operate and how they are interconnected within a system. High electrical conductivity indicates that a material can easily allow the flow of electrons, which is vital for minimizing energy losses and ensuring reliable performance in electronic devices.
Exteroceptive Sensors: Exteroceptive sensors are devices used in robotics to detect external stimuli from the environment, such as light, sound, temperature, and touch. These sensors play a critical role in enabling robots to perceive their surroundings, facilitating interaction and response to various environmental factors. By processing information gathered from exteroceptive sensors, robots can navigate, make decisions, and perform tasks more effectively.
Fault Tolerance: Fault tolerance refers to the ability of a system, particularly in robotics, to continue functioning correctly even when one or more components fail. This concept is crucial as it ensures that robotic systems can withstand unexpected errors or malfunctions, maintaining operational reliability and safety. In robotics, implementing fault tolerance involves designing algorithms and selecting components that can handle errors gracefully, allowing for seamless operation despite issues.
Flexibility: Flexibility refers to the ability of a system or component to adapt and respond to varying conditions and requirements without significant loss of performance. In robotics, this means being able to modify operations or configurations in manufacturing and service settings to meet diverse tasks or changing environments, which enhances productivity and efficiency.
Flowcharts: Flowcharts are visual representations of a process or system, using symbols and arrows to illustrate the sequence of steps involved. They help to simplify complex information, making it easier to understand, analyze, and communicate how a system operates. In system design and component selection, flowcharts can be essential tools for mapping out workflows, decision points, and the interactions between various components.
Hydraulic actuators: Hydraulic actuators are devices that utilize pressurized fluid to produce motion and force. They convert hydraulic energy into mechanical energy, allowing for precise control of movement and force in various applications, including robotics and industrial machinery. By integrating hydraulic actuators, systems can achieve greater strength and speed compared to other actuation methods, which is essential for effective end-effector design and tool integration.
I/O capabilities: I/O capabilities refer to the input and output functions of a robotic system, which enable it to interact with its environment and process information. These capabilities are essential for the effective operation of robots, allowing them to receive data from sensors, execute commands from processors, and send feedback or results to actuators and user interfaces. A robot's I/O capabilities directly influence its performance, versatility, and overall effectiveness in performing tasks.
Interfaces: Interfaces are points of interaction between different components in a system, allowing for communication and coordination between them. In the context of system design and component selection, interfaces are crucial for ensuring compatibility and integration, making it possible for various parts to work together seamlessly. This involves defining how components will connect, share data, and operate collectively within a robotic system.
Machinability: Machinability refers to the ease with which a material can be machined to achieve desired shapes and surface finishes. This term is crucial in selecting materials for manufacturing processes, as it directly affects production efficiency, tool wear, and the quality of the final product. Understanding machinability helps engineers and designers choose the right materials and processes to optimize system performance and cost-effectiveness.
Materials: Materials refer to the substances or components used to create structures, systems, or products, each possessing unique properties that influence performance and functionality. The selection of appropriate materials is crucial for system design, as it affects durability, cost, weight, and the overall efficiency of a robotic system.
Microcontrollers: Microcontrollers are compact integrated circuits designed to govern a specific operation in an embedded system, acting as the brain of various electronic devices. They combine a processor core, memory, and programmable input/output peripherals on a single chip, allowing them to process information and control various functions. This versatility makes them essential for applications in automation, robotics, and consumer electronics.
Middleware: Middleware is a type of software that acts as a bridge between different applications or components, facilitating communication and data management. It enables interoperability among various software systems and hardware devices, allowing them to work together seamlessly. Middleware plays a crucial role in enhancing the functionality and performance of robotic systems by managing the complexity of integrating hardware and software components.
Modularity: Modularity refers to the design principle of breaking down a system into smaller, self-contained units or modules that can be independently created, modified, or replaced. This approach enhances flexibility, simplifies maintenance, and allows for easier scalability. In various applications, modularity supports the efficient integration of components while facilitating safety considerations and optimizing system performance.
Operating System: An operating system (OS) is system software that manages computer hardware and software resources, providing common services for computer programs. It acts as an intermediary between users and the computer hardware, enabling the execution of applications while managing system resources like memory and processing power. The choice of operating system can significantly influence the design, performance, and functionality of robotic systems.
Pcb design software: PCB design software is a type of computer program used to create and design printed circuit boards (PCBs), which are essential components in electronic devices. This software allows engineers to layout the circuitry, simulate electrical performance, and generate the necessary files for manufacturing the PCBs. It's a critical tool in system design and component selection, as it helps ensure that the components fit together properly and function as intended.
Perception Algorithms: Perception algorithms are computational methods used in robotics and computer vision to interpret sensory data and make sense of the surrounding environment. These algorithms play a crucial role in processing input from sensors, such as cameras and LIDAR, enabling robots to understand objects, distances, and their own position relative to the environment. This understanding is essential for tasks such as navigation, object recognition, and obstacle avoidance, making perception algorithms a fundamental aspect of robotic systems.
Planning modules: Planning modules are essential components in robotic systems that facilitate the decision-making process for task execution, ensuring that robots can operate efficiently and effectively in dynamic environments. These modules analyze environmental data, user inputs, and predefined goals to generate optimal action sequences, connecting sensors, algorithms, and control mechanisms to achieve desired outcomes.
Pneumatic actuators: Pneumatic actuators are devices that use compressed air to produce motion. They convert the energy from compressed air into mechanical work, allowing for the actuation of various mechanical systems. These actuators are widely used in automation and robotics due to their efficiency, speed, and ability to generate substantial force while remaining lightweight and easy to control.
Power Supply: A power supply is a device that provides electrical energy to an electrical load, converting various forms of input energy into the desired voltage, current, and frequency to ensure proper operation of electronic devices. The design and selection of power supplies are crucial for the functionality and reliability of robotic systems, impacting everything from performance to energy efficiency.
Processing Power: Processing power refers to the capability of a computer or robotic system to execute instructions and perform computations at high speed. This attribute is essential for systems that require real-time processing, as it determines how quickly data can be analyzed, decisions made, and actions executed. The level of processing power directly affects the efficiency, performance, and complexity of tasks that a system can handle.
Proprioceptive sensors: Proprioceptive sensors are specialized devices that provide feedback on the position and movement of a robotic system's components, helping the robot understand its own body dynamics. These sensors play a critical role in motion control, enabling robots to achieve precise movements by detecting changes in orientation, acceleration, and joint angles. This sensory information is vital for tasks that require balance, coordination, and adaptability to dynamic environments.
Real-time performance: Real-time performance refers to the capability of a system to process data and respond to inputs within a strict time constraint, ensuring timely execution of tasks. In applications such as robotics, achieving real-time performance is crucial as it affects how effectively a system can interact with its environment, make decisions, and control physical actions. It involves careful consideration of hardware selection, software design, and system architecture to meet performance requirements consistently.
Redundancy: Redundancy refers to the inclusion of extra components or systems in a design to increase reliability and ensure continued operation even in the event of a failure. This principle is particularly important in engineering and technology, as it helps to minimize downtime and maintain functionality, especially in critical systems where failure can lead to significant consequences.
Scalability: Scalability refers to the capacity of a system to handle a growing amount of work or its potential to accommodate growth without compromising performance. It is essential for maintaining efficiency and effectiveness as demand increases, especially in contexts where multiple agents or components are involved. Scalability plays a crucial role in optimizing resource allocation, enhancing collaborative efforts among systems, and ensuring that designs can adapt to future needs.
Selection Criteria: Selection criteria refer to the specific standards and benchmarks used to evaluate and choose components during the design and engineering process. These criteria are essential for ensuring that the chosen components meet the required performance, reliability, cost-effectiveness, and compatibility within a system. By carefully defining selection criteria, designers can streamline the component selection process and ensure optimal integration into the overall system design.
Sensors: Sensors are devices that detect and respond to physical stimuli, such as light, heat, motion, or pressure, converting these inputs into signals that can be processed by a robot. They play a critical role in how robots perceive their environment, allowing them to interact intelligently with the world around them. By gathering data about their surroundings, sensors enable robots to perform tasks more effectively and safely.
Software architecture diagrams: Software architecture diagrams are visual representations that outline the structure, components, and relationships within a software system. They serve as blueprints that help stakeholders understand how different parts of the system interact, ensuring clarity in design and decision-making for system development and component selection.
Stiffness: Stiffness is a measure of a system's resistance to deformation when subjected to an applied force. In robotics, it plays a crucial role in determining how a manipulator or system reacts to external loads, influencing control strategies and the performance of tasks. Understanding stiffness helps engineers design systems that can effectively manage forces while maintaining desired positions and movements.
Strength-to-weight ratio: The strength-to-weight ratio is a measure that compares the strength of a material or structure to its weight, indicating how much load it can support relative to its mass. This ratio is crucial in engineering and design, as it helps determine the efficiency of materials used in various applications, particularly in aerospace and automotive industries. A high strength-to-weight ratio allows for lighter structures that can carry more load, enhancing performance and fuel efficiency.
Thermal properties: Thermal properties refer to the characteristics of materials that define their behavior in response to changes in temperature. These properties include thermal conductivity, specific heat capacity, and thermal expansion, which play crucial roles in the design and selection of components for systems that require effective heat management. Understanding these properties ensures optimal performance and reliability in various applications, particularly in robotics where thermal management can directly affect functionality and safety.
UML Diagrams: UML diagrams are a standardized way to visualize the design of a system, using Unified Modeling Language (UML) to represent the components, relationships, and processes within a system. They serve as blueprints that help designers and developers communicate ideas and structure software solutions clearly, making it easier to select appropriate components for a system design.
Wiring Diagrams: Wiring diagrams are visual representations that illustrate the connections and layout of electrical circuits, showing how components are interconnected. These diagrams help in understanding the flow of electricity and the relationships between different parts, which is essential for system design and component selection in robotics and automation.