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- 1. Mechatronics Engineering 2015-16 15MH301 Fundamentals of Robotics L T P C 3 0 0 3 Co-requisite: Nil Prerequisite: Nil Data Book / Codes/Standards Nil Course Category P Professional Core Mechatronics Engineering Course designed by Department of Mechatronics Engineering Approval 32nd Academic Council Meeting held on 23.07.2016. Purpose To provide the foundations of robotics in terms of anatomy and design of serial manipulators. Instructional Objectives Student Outcomes At the end of the course, student will be able to 1. Interpret the basic structure of Robots and apply it to design the Robots. a 2. Acquire knowledge about various transformations of robotic manipulator. a c 3. Understand the kinematics of serial manipulators. a k 4. Select and implement the sensors for various applications in Robots. a c 5. Understand the various Robot control strategies and concepts related to work cells. a c Session Description of Topics Contact hours C-D-I-O IOs Reference Unit I: Introduction to Robotics 8 1. Robotics: Definition, history of robotics, laws of robotics, industrial and service robotics work volume, classification based on work envelope. 2 C 1 1,2 2. Precision, repeatability, accuracy, co-ordinate systems, degrees of freedom. 1 C 1 1,2 3. Linkage and joints of manipulators, configuration space and operational space. 1 C 1 2 4. Anatomy of a Robot. 1 C 1 2 5. Robot end effectors. 1 C 1 1,2 6. Types of grippers, selection criteria. 2 C 1 1,2 Unit II: Spatial Descriptions and Transformations 6 7. Translations and rotations. 1 C 2 2 8. Fixed and Euler angles and rotation matrix representations. 1 C 2 2 9. Homogeneous transformation. 1 C 2 2 10. Operators and mapping: Case study for operations and mapping. 1 C,D 2 2 11. Compound transformations and case study for compound transformation. 1 C,D 2 2 12. Equivalent angle axis representation. 1 C 2 2 Unit III: Manipulator Kinematics 10 13. Manipulator kinematics: Introduction, forward and inverse kinematics. 1 C 1,3 2 14. Geometric and algebraic approach, geometric approach of forward kinematics of RR planar and RRR and RRP spatial configuration. 2 C,D 1,3 2 15. D-H formulation for forward kinematics, difference between standard D-H and modified D-H conventions, forward kinematics of RR planar and RRR planar. 2 C,D 1,3 2 16. Forward kinematics of a 3 DoF RRP manipulator. 1 C,D 1,3 2 17. Forward kinematics of a 3 DoF RRR spatial manipulator. 1 C,D 1,3 2 18. Forward kinematics of a 4 DoF SCARA Robot. 1 C,D 1,3 2 19. Inverse kinematics geometric approach for 2 DoF planar and 3 DoF spatial, issues in inverse kinematics. 2 C,D 1,3 2 Unit IV: Robot Sensors and Drives 9 20. Task requirements for Robot design. 1 D 1,4 2 21. Kinematic configurations and wrists. 1 D 1,4 2 22. Actuators and transmission element selection. 2 C,D 1,4 2 23. Harmonic drives. 1 C,D 1,4 2
- 2. Mechatronics Engineering 2015-16 Session Description of Topics Contact hours C-D-I-O IOs Reference 24. Gripping force sensing, tactile sensing. 1 C,D 1,4 1,2 25. Slip sensing. 1 C,D 1,4 1,2 26. Vision systems for Robots. 2 C 1,4 1 Unit V: Robot Control and Industrial Work Cells 8 27. Types of Robot control: Position control and force control, joint space schemes, cartesian space schemes, continuous control and point to point control. 1 C,D 1,4 2 28. Case studies for each type of control. 2 D 1,4 2 29. Robot work cell layout: Multiple Robots and machine interface work cell control. 1 D 1 1 30. Safety monitoring, error detection and recovery. 2 D 1 1 31. Robot cycle time analysis, economic analysis for Robots. 1 D 1,4 1 32. Interpreting specifications of a industrial Robot and its controller. 1 D 1,4 1, 2 Assessment 4 33. Cycle test – I 1 34. Cycle test – II 2 35. Surprise test / Assignment and Quiz 1 Total contact hours 45 Learning Resources Sl. No. Text Books 1. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2012. 2. John J. Craig, “Introduction to Robotics”, Addison Wesley, ISE 2008. Reference Books / Other Reading Materials 3. Deb S.R., “Robotics Technology and Flexible Automation”, Tata McGraw - Hill Publishing Company Limited, 2012. 4. Arthor Critchlow, “Introduction to Robotics”, Macmillan, 2009. 5. Mohsen Shahinpoor, “A Robot Engineering Text Book”, Harper and Row, 2004. 6. Sterling Kinney J, “Indeterminate Structural Analysis”, Narosa Publishing House, 1987. Course nature Theory Assessment Method (Weightage 100%) In-semester Assessment tool Cycle test I Cycle test II Cycle Test III Surprise Test Quiz Total Weightage 10% 15% 15% 5% 5% 50% End semester examination weightage: 50%