IE3003 Robotics Engineering Syllabus:
IE3003 Robotics Engineering Syllabus – Anna University Regulation 2021
COURSE OBJECTIVES:
• Classify and Recognize different robots and its specifications.
• Identify the appropriate drives and grippers required based on application.
• Specify the sensors for particular application.
• Control various robot links using kinematic equations.
• Perform a justification check before implementation of robots in industry.
UNIT I FUNDAMENTALS OF ROBOT
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
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.
UNIT III SENSORS AND MACHINE VISION
Sensory Devices – Non optical – Position sensors – Optical position sensors – Velocity sensors – Proximity sensors – Contact and noncontact type – Tactile and slip sensors – Force and torque sensors- Introduction to Image Processing
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Forward Kinematics and Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2 Dimensional) – Homogeneous Transformation- D-H Representation of forward kinematics. Teach Pendant Programming, Lead through programming, Robot programming Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter commands, and Simple programs.
UNIT V ROBOT CELL DESIGN, CONTROL AND ECONOMICS
Work cell control – Robot and machine Interface – Robot cycle time analysis – Economic analysis of robots – Pay back method, EUAC method, Rate of return method.
TOTAL: 45 PERIODS
COURSE OUTCOMES:
CO1: Able to identify the type of robot required for applications.
CO2: Able to suggest a suitable robot drive, gripper and sensors required for particular application. CO3: Perform selection of sensor for a particular task .
CO4: Able to analyse robot arm kinematics and understand simple programs.
CO5: Able to analyse the robot cycle time and economics of robot implementation.
TEXT BOOK :
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”, second Edition Tata McGraw-Hill, 2012.
REFERENCES :
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw-Hill Book Co., 1987.
2. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995.
3. Richard D. Klafter., Thomas A. Chmielewski, Michael Negin, “Robotic Engineering: An Integrated Approach”, PHI.,1993.
4. SaeedB.Niku., “Introduction to Robotics: Analysis, Control, Applications”,PHI, 2011.
5. YoramKoren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992.