Robot Design Principles

Robots are used in many areas of our lives as a product of modern technology. From agriculture, automation, industrial production, healthcare and even cleaning in our homes, robots play a major role in many areas. However, for a robot to perform its tasks successfully, it needs to be designed correctly[1]. In this article, 6 basic principles of robot design are discussed.

Task Determination

The first step in robot design is to determine what kind of task the robot will perform. Defining the task correctly forms the basis of the design process. The environment in which the robot will operate, the functions it will perform and the targeted performance criteria should be determined at this stage[2].

Problem Description: The first step is to determine what kind of problem the robot to be designed will solve. The problem can be of many different types, such as weed detection in agriculture, moving materials on an industrial production line, a surgical robot performing surgery, or an autonomous vehicle driving. The problem must be clearly and unambiguously defined[3].

Identification of Targets: The functions the robot needs to perform and the goals of these functions should be clearly specified. For example, a cleaning robot may need to clean the floor of a room and complete this task within a certain time period[4].

A Review of Environmental Factors: The physical environment in which the robot will operate is important. This is why environmental factors should be taken into account during the design phase. For example, the working environment of an industrial robot may be hot, dusty or humid. Such factors can influence design decisions such as material selection, performance of sensors and energy management[5].

Determination of Performance Criteria: In order for the robot to successfully fulfill its tasks, performance criteria must be determined. These criteria can include factors such as the robot's precision, speed, accuracy, reliability and energy efficiency. These criteria are used for performance evaluation in the later stages of the design[6].

Human interaction: If robots are to interact with humans, how this interaction will take place needs to be considered and the process of humans using or controlling the robot should be part of the design. This is important for safety, usability and user experience[7].

Cost and Resources: Budget and resources should also be considered during the design phase. The cost of the robot will depend on many factors, from material selection to the production process. Staying within budget limits is important as it will also affect the selling price of the product[8].

The task specification phase represents the process of understanding what needs the robot will fulfill and what problems it will solve. Once this phase is complete, other design principles and steps can be used to better guide and optimize.

Mechanical Design

The physical structure of the robot is created in the mechanical design phase. In this phase, important mechanical details such as the robot's motion systems, joint types, material selection and dimensions are considered. Mechanical design is a critical factor that determines the stability, durability and mobility of the robot[9].

Selection of Movement Systems: A suitable motion system must be selected for the robot to move. Motion systems can take different forms such as wheels, tracks, legs, arm and joint systems. The robot's tasks and working environment influence which type of motion system to use[10].

Joint Design: If your robot has a multi-jointed structure (such as a human arm), the joint types and locations must be carefully designed. These joint systems enable the robot to perform specific movements. Joint design has major implications on the robot's precision and workspace[11].

Material Selection: In the mechanical design phase, the choice of materials to be used is important. Factors such as material durability, weight, strength and cost should be considered. Lightweight and durable materials such as aluminum or steel are generally preferred for industrial robots[12].

Dimensioning: The dimensions of the robot must be appropriate for it to be able to perform a specific task. A large robot may struggle to work in a confined space, while a small robot may be inadequate to perform certain tasks. Sizing should be determined based on the complexity of the task and the physical constraints of the working environment[13].

Motion Control: Controlling the robot's movements is an important part of mechanical design. Motors, actuators and sensors are integrated to enable the robot to perform the desired movements. Motion control determines the robot's precision and response time[13].

Durability and Maintenance: Another important aspect of mechanical design is to consider the durability and maintainability of the robot. The robot's ability to operate continuously and not require regular maintenance ensures a long life and efficient use.[13].

Safety: Safety is important in the mechanical design phase. In situations where the robot will interact with humans or other machines, safety measures and safety systems should be part of the design [14].

Mechanical design involves creating the physical structure of a robot, as well as optimizing it to enable it to perform its tasks effectively. A good mechanical design can improve the robot's efficient operation, durability and precision. Therefore, the principle of mechanical design is an important step in the robot design process.

Sensors and Sensors

A robot's ability to sense its environment is critical for it to perform its tasks effectively. Therefore, the selection and integration of appropriate sensors is of paramount importance. Different sensing technologies such as cameras, lidars, ultrasonic sensors, touch sensors help the robot to understand its environment[15].

Sensor Types: Robots perceive their environment through various sensors. Different types of sensors can be used according to different applications. Example sensor types include:

• Camera and Image Processing: Cameras are used to capture and process environmental images. Important for object recognition, path tracking and image-based sensing.
• Lidar: Lidar provides distance and environmental mapping information using laser beams. Widely used for mapping, obstacle detection and navigation.
• Ultrasonic Sensors: Ultrasonic sensors use sound waves to measure the distance of objects. Ideal for obstacle detection and proximity control [16].
• Inertial Measurement Units (IMU): IMUs consist of components such as accelerometers and gyroscopes and are used to track and guide the robot's motion.
• Touch Sensors: Touch sensors detect tactile information such as contact, pressure and contact duration. This is useful for human-robot interaction and grasping objects.

Sensor Integration: It is important to integrate sensors into the design of the robot. Placing the sensors in the right position and orientation ensures that environmental information is obtained accurately. Furthermore, appropriate software and algorithms need to be developed to process and utilize the sensors' data[17].

Data Processing and Analysis: Processing and analyzing data from sensors is a critical step for the robot to understand its environment. This data is used for tasks such as object detection, obstacle detection, map creation and navigation. Techniques such as image processing, data filtering and deep learning are commonly used to process this data[18].

Sensor Reliability: It is crucial that sensors provide accurate and reliable data. Sensor errors or misleading data can cause the robot to perform its task incorrectly. Therefore, measures must be taken for calibration, regular maintenance and error detection of sensors.

Multisensing and Fusion: Robots often use more than one type of sensor. Combining or fusing data from these sensors provides more comprehensive and reliable detection. For example, combining lidar and camera data can give a better object detection result[15].

Energy Efficiency: Sensors can contribute to energy consumption. It is therefore important that sensors are designed and used with energy efficiency in mind. It should be ensured that sensors do not run continuously unnecessarily and save energy.

Sensors and the sensing principle are a critical factor determining the robot's ability to understand and interact with its environment. Choosing the right sensors ensures that the design and functionality is successful and helps the robot to operate reliably.

Control and Software

In order to control robots correctly, appropriate software and control algorithms need to be developed. At this stage, software is created to manage the robot's movements, tasks and sensor data. Safety measures and autonomous functions must also be considered at this stage[19].

Motion Control: Controlling the physical movements of the robot is an important part of control and software design. Mechanical components such as motors, actuators and wheels are guided through the software. This enables the robot to accurately navigate, move to a specific position or perform its operation.

Autonomous Movement and Navigation: Many robots have the ability to autonomously explore their environment and perform specific tasks. This requires complex software algorithms such as map generation, path planning, obstacle detection and autonomous navigation. These algorithms enable the robot to move safely.

Task Management: Robots may need to manage multiple tasks simultaneously or sequentially. Control software must be designed to coordinate and prioritize these tasks. For example, an unmanned aerial vehicle must both control flight and manage the task of data collection.

Sensor Data Processing: Data from the sensors is processed and analyzed by the control software. This data is used for object detection, mapping, target tracking and other sensing tasks. Techniques such as image processing, data filtering and deep learning are commonly used in sensor data processing.

User Interfaces: Some robots need to interact with humans. In this case, user interfaces should be part of the design. These interfaces allow users to control the robot, give commands or monitor the robot's status.

Security and Error Management: Safety is of paramount importance in control and software design. Safety protocols and fault management strategies must be integrated so that robots can recognize dangerous situations and react safely[20].

Energy Efficiency: Control software is also important for energy management. Energy efficiency measures should be part of the design to optimize the robot's energy consumption and extend battery life.

The principle of control and software provides the "intelligence" and "behavior" needed for a robot to successfully perform its task. Proper design of this principle enables the robot to operate effectively, understand its environment and successfully complete its tasks

Energy Management

Robots constantly need energy. Therefore, energy sources and energy management form an important part of the design. Issues such as battery technologies, energy efficiency measures and automatic charging systems are addressed at this stage[21].

Energy Resources and Storage: The first step is to identify the robot's energy sources. These can include batteries, accumulators, solar energy, fuel cells or other energy sources. A suitable energy source should be selected depending on the robot's energy needs and operating conditions. Also important is the storage and management of energy[22].

Power Consumption Monitoring: Monitoring the robot's power consumption is a critical step for energy management. This allows battery life to be tracked and energy sources to be determined for how long they can be used. Sensors and software are used to collect and analyze power consumption data.

Sleep and Standby Modes: Robots can enter sleep or standby modes to conserve energy when they are not active. These modes reduce unnecessary energy consumption and extend battery life. Strategies for transitioning the robot to sleep or standby mode should be determined during the design phase[23].

Energy Efficiency: Mechanical design, the use of sensors, software algorithms and motion control should be part of the design to improve energy efficiency. For example, efficient motors can perform the same tasks while consuming less energy.

Speed and Performance Regulations: The robot's speed and performance affect its energy consumption. A slower moving robot may consume less energy, but may take longer to complete some tasks. During the design process, the impact of speed and performance on energy consumption should be taken into account.

Renewable Energy Sources: Some robots can generate energy using renewable energy sources such as solar panels or wind turbines. This can increase the robot's independence and provide a more sustainable energy source for long-term missions.

Emergency Backups: An emergency backup system should be designed for the robot to maintain energy in the event of an unexpected loss of power or during long-term missions. This can help the robot to preserve important information and complete its mission.

The principle of energy management enables a robot to effectively manage energy while completing its task and optimize its ability for long-term or autonomous operation. This increases the robot's durability and functionality.

Safety and Ethics

Safety plays an important role during robot design. In situations where robots will interact with humans, necessary precautions should be taken to ensure human safety. In addition, the ethical and legal responsibilities of robots should also be considered[14, 24].

Human Security: There are many scenarios where robots interact with humans. Therefore, human safety of robots should be a priority. Robots should not harm humans or the environment and should be equipped with safety protocols when controlling their movements and functions.

Environmental Safety: The physical environment in which robots operate must also be safe. Industrial robots in particular must operate without harming people or other equipment in their environment. This can be achieved through obstacle detection; emergency stop systems and environmental monitoring.

Human-Robot Communication: Where robots interact with humans, communication should respect ethics and human comfort. Interaction methods such as user interfaces and voice commands should consider user experience and ethics.

Data Privacy and Security: Robots can access sensitive data. Therefore, data privacy and security should be part of the robot design. Measures such as encryption of data, authorization and access controls should be taken.

Ethical Responsibility: Robots have ethical responsibilities. Autonomous robots, in particular, must follow ethical guidelines when making decisions. For example, self-driving cars should obey traffic rules and prioritize human safety in encounters.

Human Rights: Robots should respect human rights. For example, when working with elderly or sick people, care robots should respect their right to privacy.

Legal and Regulatory Compliance: Robot design must comply with applicable legal and regulatory requirements. Licenses and certifications required for use of robots in specific industries or applications must be obtained [25].

Education and Awareness: Robot users should be provided with training and awareness to understand the potential risks and ethics of robots. Provide educational materials to enable users to use robots in a safe and ethical manner[26].

The principle of safety and ethics is of great importance in the modern world, where robots are increasingly integrated into our daily lives. This principle ensures that robots work in harmony with humans and their environment and minimize potential risks.

Conclusion

Robot design is a complex process and involves many different disciplines. However, a properly designed robot can perform its tasks efficiently and safely. The basic design principles we discuss in this article can be a successful guide in the robot development process. Considering these principles to succeed in robot design will help us make our robots more efficient, safe and ethical. We believe that in the future, robot technology will evolve even further and these principles will offer even more innovations and opportunities.

If you are interested in robot design, you can start taking steps to learn and apply these principles. Remember that robot design not only moves technology forward, but also contributes to a better future for humanity.

As Orbiba Robotics, we develop robots for the benefit of humanity in the field of organic agriculture by taking all these principles into consideration. You can follow us to keep up with the process…

                                                                                          Robotic Design Engineer

                                                                                                  Fatih Mert ÇELEBİ

References

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