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ME809 9 Robotics LT PC: Anna University, Chennai Affiliated Institutions B.E. Mechanical Engineering Regulations - 2017

This document outlines the objectives, units of study, outcomes, and references for the ME809 Robotics course. The course aims to provide an understanding of basic robot components, types of end effectors and sensors, robot kinematics, programming, and safety issues. It covers topics such as robot anatomy, drive systems, end effectors, sensors, machine vision, kinematics, programming, and implementation in industries. Upon completion, students will be able to explain robot concepts, illustrate drive systems and end effectors, apply sensors and image processing, develop robot programs, and examine robot implementation and economics.

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107 views

ME809 9 Robotics LT PC: Anna University, Chennai Affiliated Institutions B.E. Mechanical Engineering Regulations - 2017

This document outlines the objectives, units of study, outcomes, and references for the ME809 Robotics course. The course aims to provide an understanding of basic robot components, types of end effectors and sensors, robot kinematics, programming, and safety issues. It covers topics such as robot anatomy, drive systems, end effectors, sensors, machine vision, kinematics, programming, and implementation in industries. Upon completion, students will be able to explain robot concepts, illustrate drive systems and end effectors, apply sensors and image processing, develop robot programs, and examine robot implementation and economics.

Uploaded by

Mech HoD DAIT
Copyright
© © All Rights Reserved
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ANNA UNIVERSITY, CHENNAI

AFFILIATED INSTITUTIONS
B.E. MECHANICAL ENGINEERING REGULATIONS – 2017

ME809 ROBOTICS L T P C
9
3 0 0 3

OBJECTIVES:

 To understand the functions of the basic components of a Robot.


 To study the use of various types of End of Effectors and Sensors
 To impart knowledge in Robot Kinematics and Programming
 To learn Robot safety issues and economics.

UNIT I BASICS OF MECHANISMS 9


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 9
Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives-D.C. Servo
Motors, Stepper Motors, 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 9
Requirements of a sensor, Principles and Applications of the following types of
sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders,
pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured,
Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, 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, Segmentation, Feature Extraction, Object Recognition, Other
Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 9
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and
Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2
Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and
Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism
Design-Derivations and problems. Lead through Programming, Robot programming
Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector
commands and simple Programs.
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 9
RGV, AGV; Implementation of Robots in Industries-Various Steps; Safety
Considerations for Robot Operations - Economic Analysis of Robots..
TOTAL: 45 PERIODS
OUTCOMES:
Upon the completion of this course the students will be able to
CO1 Explain the concepts of industrial robots, classification, specifications and
coordinate systems. Also summarize the need and application of robots in
different sectors
CO2 Illustrate the different types of robot drive systems as well as robot end
effectors.
CO3 Apply the different sensors and image processing techniques in robotics to
improve the ability of robots.
CO4 Develop robotic programs for different tasks and familiarize with the
kinematics motions of robot.
CO5 Examine the implementation of robots in various industrial sectors and
interpolate the economic analysis of robots.

TEXT BOOKS:
1. Groover M.P., “Industrial Robotics -Technology Programming and Applications”,
McGraw Hill, 2012.
2. Klafter R.D., Chmielewski T.A and Negin M., “Robotic Engineering - An
Integrated Approach”,Prentice Hall, 2003.
REFERENCES:
1. Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson Education,
2008.
2. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill Book
Co., 2013.
3. Fu.K.S.,Gonzalz R.C. and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw Hill Book Co., 1987.
4. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
5. Koren Y., “Robotics for Engineers", Mc Graw Hill Book Co., 1992.

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