ME1008 ROBOTICS 3 0 0 100
(Common to Mechanical, Automobile and Production - core)
OBJECTIVES
• To introduce the basic concepts, parts of robots and types of robots
• To make the student familiar with the various drive systems for robot, sensors and their applications in robots, programming of robots
• To discuss about the various applications of robots, justification, implementation and safety of robot
1. FUNDAMENTALS OF ROBOT 7
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
2. ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C. Servo Motors, Stepper Motor, 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
3. SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors – Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured, Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors), 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.
4. ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2 Dimensional), Four Degrees of Freedom (In 3 Dimensional) – Deviations and Problems
Teach Pendant Programming, Lead through programming, Robot programming Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter commands, and Simple programs
5. IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety Considerations for Robot Operations; Economic Analysis of Robots – Pay back Method, EUAC Method, Rate of Return Method.
TOTAL : 45
TEXT BOOK
1. M.P.Groover, Industrial Robotics – Technology, Programming and Applications, McGraw-Hill, 2001
REFERENCES
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., Robotics Control, Sensing, Vision and Intelligence, Mc Graw Hill Book Co., 1987
2. Yoram Koren, Robotics for Engineers, McGraw-Hill Book Co., 1992
3. Janakiraman.P.A., Robotics and Image Processing, Tata McGraw-Hill, 1995.
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