CRA339 Robot and Machine Elements Design Syllabus:

CRA339 Robot and Machine Elements Design Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES:

The main learning objective of this course is to prepare the students for:
1. Designing machine members subjected to static and variable loads.
2. Designing flexible elements like belts, ropes, and chain drives for engineering applications.
3. Designing shafts and threaded fasteners for various applications.
4. Designing and selecting bearings and robot grippers.
5. Designing gears and gearbox for machine tools and applications.

UNIT I FUNDAMENTAL CONCEPTS IN DESIGN

Introduction to Robots – factors influencing robot design, selection of materials based on mechanical properties – Modes of failure -Factor of safety – stresses due to bending and torsion moment – Eccentric loading, Design against fluctuating loads – theories of failures.

UNIT II DESIGN OF FLEXIBLE ELEMENTS AND BEARINGS

Introduction to flexible elements, Design of belt drives – Flat, Vee, and Timing Belts, Design of chain drives – Sliding contact and rolling contact bearings – Hydrodynamic journal bearings, Somerfield Number, Raimondi & Boyd graphs – Selection of Rolling Contact bearings.

UNIT III DESIGN OF SHAFTS AND THREADED FASTENERS

Shafts and Axles – Design of solid and hollow shafts based on strength, rigidity, and critical speed – Keys and splines, Threaded fasteners – Bolted joints – Simple and eccentrically loaded bolted joints.

UNIT IV DESIGN OF GEARS AND GEAR BOXES

Design of Gears (Spur, Helical and Bevel) – Geometric progression – Standard step ratio – Ray diagram, kinematic layout – Design of sliding mesh gear box – Design of multi speed gear box for machine tool applications.

UNIT V DESIGN OF ROBOT GRIPPERS AND END EFFECTORS

Types of End Effectors and Gripper Mechanisms, Force analysis, Miniature Grippers and Micro Grippers, Compliance, Selected case studies – Sheet metal handling, pretension of cuboid / cylindrical / objects, coils, irregular surfaces and flexible objects, handling castings, and medical applications.

TOTAL: 45 PERIODS

COURSE OUTCOMES :

Upon successful completion of the course, students should be able to:
CO1: Recognize various parameters for belt, ropes, shafts, fasteners and chain drives and other machine members
CO2: Analyze the belt, ropes, shafts, fasteners and chain drives and other machine members subjected to static and dynamic loads.
CO3: Evaluatethe belt, ropes, shafts, fasteners and chain drives and other machine members for various applications.
CO4: Create parameters for designing belt, ropes, shafts, fasteners and chain drives and other machine members in manufacturing a robot.
CO5: Design various robot elements.

TEXT BOOKS:

1. Bhandari. V.B, “Design of Machine Elements”, Tata McGraw-Hill Education, 5th edition, 2020.
2. Joseph Edward Shigley, Charles R. Mischke, “Mechanical Engineering Design”, McGraw Hill, 11th edition, 2020.
3. Gareth J.Monkman, Stefan Hesse, Ralf Steinmann, HenrikSchunk, “Robot Grippers”, Wiley, 2007.

REFERENCES:

1. Sundararajamoorthy T. V, Shanmugam .N, “Machine Design”, Anuradha Publications, 2015.
2. Robert L.Norton, “Machine Design – An Integrated Approach”, Prentice Hall International Edition, 5th edition, 2018.
3. Sharma. C.S, Purohit. K.,”Design of Machine Elements”, Prentice-Hall of India, 2003.
4. Adam Morecki, JozeKnapczyk, “Basics of Robotics: Theory and Components of Manipulators and Robots”, Springer, 1999.
5. Shimon Y. Nof, “Handbook of Industrial Robotics”, John Wiley & Sons, 1999.
6. “P.S.G.Design Data Hand Book”, PSG College of Tech Coimbatore.
7. Mikell P. Groover, “Industrial Robotics”, McGraw Hill, 2nd edition, 2017.