ME6010 Robotics - Syllabus-Semester VII-Elective-MECH-BE-Anna University

NotesKhan ME6010 Robotics - Syllabus-Semester VII-Elective-MECH-BE-Anna University MECH SEM VII Syllabus, MECH SYLLABUS

 

 

ME6010                                                   ROBOTICS                                                              L  T  P  C

3   0 0  3

OBJECTIVES:

• To understand the functions of the basic components of a Robot.
• To study the use of various types of End of Effectors and Sensors
• To impart knowledge in Robot Kinematics and Programming
• To learn Robot safety issues and economics.

 

UNIT I             FUNDAMENTALS OF ROBOT                                                                                      6

Robot - Definition - Robot Anatomy - Co ordinate Systems, Work Envelope Types and Classification- Specifications-Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load- Robot Parts and their Functions-Need for Robots-Different Applications.

 

UNIT II            ROBOT DRIVE SYSTEMS AND END EFFECTORS                                                    9

Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives-D.C. Servo Motors, Stepper Motors, A.C. Servo Motors-Salient Features, Applications and Comparison of all these Drives, End Effectors-Grippers-Mechanical  Grippers,  Pneumatic  and  Hydraulic-  Grippers,  Magnetic  Grippers,

 

Vacuum  Grippers;  Two  Fingered  and  Three  Fingered  Grippers;  Internal  Grippers  and  External

Grippers; Selection and Design Considerations.

 

UNIT III           SENSORS AND MACHINE VISION                                                                             12

Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.

 

UNIT IV          ROBOT KINEMATICS AND ROBOT PROGRAMMING                                              13

Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in

3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector

commands and simple Programs.

 

UNIT V           IMPLEMENTATION AND ROBOT ECONOMICS                                                          5

RGV, AGV; Implementation of Robots in Industries-Various Steps; Safety Considerations for Robot

Operations - Economic Analysis of Robots.

 

 

OUTCOMES:

 

TOTAL: 45 PERIODS

 

• Upon completion  of  this  course,  the  students  can  able  to  apply  the  basic  engineering knowledge for the design of robotics

 

TEXT BOOKS:

1. Klafter R.D., Chmielewski T.A and Negin M., “Robotic Engineering - An Integrated Approach”, Prentice Hall, 2003.
2. Groover M.P., “Industrial Robotics -Technology Programming and Applications”, McGraw Hill,

2001.

 

REFERENCES:

1. Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson Education, 2008.
2. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill Book Co., 1994.
3. Koren Y., “Robotics for Engineers", Mc Graw Hill Book Co., 1992.
4. Fu.K.S.,Gonzalz R.C. and Lee C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw Hill Book Co., 1987.
5. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
6. Rajput R.K., “Robotics and Industrial Automation”, S.Chand and Company, 2008.
7. Surender Kumar, “Industrial Robots and Computer Integrated Manufacturing”, Oxford and IBH Publishing Co. Pvt. Ltd., 1991.