ME2028 ROBOTICS Syllabus for Mechanical Seventh(7th) Semester - Anna University

ME2028                                                 ROBOTICS                                              L T  P  C
3  0 0  3
·    To understand the basic concepts associated with the design and functioning and applications of Robots To study about the drives and sensors used in Robots
·    To learn about analyzing robot kinematics and robot programming

UNIT I              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 Functions Need for Robots Different Applications

UNIT II            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 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                                                       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: Edge detection, Segmentation Feature Extraction and Object Recognition - Algorithms. Applications Inspection, Identification, Visual Serving and Navigation.

UNIT IV          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

UNIT V            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.



1.  M.P.Groover, Industrial Robotics Technology, Programming and Applications, McGraw-Hill, 2001

1.  Fu.K.S.  Gonzalz.R.C.,  and  Lee  C.S.G.,  “Robotics  Control,  Sensing,  Vision  and
Intelligence, McGraw-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

By Vinoth
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