Sunday 24 June 2012
ME2028 ROBOTICS Syllabus for Mechanical Seventh(7th) Semester - Anna University
ME2028 ROBOTICS L T P C
3 0 0
3
OBJECTIVES:
· 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.
TEXT BOOK:
TOTAL: 45 PERIODS
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”, 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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