PR3007 Robotic Technology Syllabus:
PR3007 Robotic Technology Syllabus – Anna University Regulation 2021
COURSE OBJECTIVES:
• To study the kinematics, drive systems and programming of robots.
• To study the basics of robot laws and transmission systems.
• To familiarize students with the concepts and techniques of robot manipulator, its kinematics.
• To familiarize students with the various Programming and Machine Vison application in robots.
• To build confidence among students to evaluate, choose and incorporate robots in engineering systems.
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 KINEMATICS
Forward kinematics, inverse kinematics and the difference: forward kinematics and inverse Kinematics of Manipulators with two, three degrees of freedom (in 2 dimensional), four degrees of freedom (in 3 dimensional) – derivations and problems. Homogeneous transformation matrices, translation and rotation matrices Dennavit and Hartenberg transformation.
UNIT III 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 of a gripper – gripper force calculation and analysis.
UNIT IV SENSORS IN ROBOTICS
Force sensors, touch and tactile sensors, proximity sensors, non-contact sensors, safety considerations in robotic cell, proximity sensors, fail safe hazard sensor systems, and compliance mechanism. Machine vision system – 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 V RECENT ADVANCES
Programming, lead through programming, robot programming languages – VAL programming – Motion Commands, Sensors commands, End-Effector Commands, and simple programs – Role of robots in inspection, assembly, material handling, underwater, space and medical fields.
TOTAL: 45 PERIODS
COURSE OUTCOMES:
Upon successful completion of the course, students should be able to:
CO1: Interpret the features of robots and technology involved in the control.
CO2: Apply the basic engineering knowledge and laws for the design of robotics.
CO3: Explain the basic concepts like various configurations, classification and parts of end effectors compare various end effectors and grippers and tools and sensors used in robots.
CO4: Explain the concept of kinematics, degeneracy, dexterity and trajectory planning.
CO5: Demonstrate the image processing and image analysis techniques by machine vision system.
TEXT BOOKS:
1. Ganesh. S. Hedge, “A textbook of Industrial Robotics”, Lakshmi Publications, 2006. McGraw Hill 2th edition 2012.
2. Mikell.P.Groover, “Industrial Robotics – Technology, Programming and applications”, McGraw-Hill, 1986.
REFERENCES:
1. Fu K.S. Gonalz R.C. and ice C.S.G “Robotics Control, Sensing, Vision andIntelligence”, McGraw Hill book co. 2007.
2. YoramKoren, “Robotics for Engineers”, McGraw Hill Book, Co., 2002.
3. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill 2005.
4. John. J.Craig, “Introduction to Robotics: Mechanics and Control” 3nd Edition, 2004.
5. Jazar, “Theory of Applied Robotics: Kinematics, Dynamics and Control”, Springer India reprint, 2010.