## RA3401 Syllabus - Design Of Robot Elements - 2021 Regulation Anna University

RA3401

DESIGN OF ROBOT ELEMENTS

LTPC

3003

COURSE OBJECTIVES:
• The main learning objective of this course is to prepare the students for:
• To introduce the students to the fundamentals of machine design, material selection and to solve the basic design problems
• To learn to derive various parameters for modelling links and joints in a robot.
• To learn about Fundamentals of Computer Graphics
• To learn and understand curves and surfaces in robot modelling.
• To learn to derive various parameters for modelling end-effectors of a robot

UNIT I

FUNDAMENTALS OF MECHANICAL DESIGN

9

Fundamentals of Machine Design-Engineering Design, Phases of Design, Design Consideration - Standards and Codes - Design against Static and Dynamic Load –Modes of Failure, Factor of Safety, Principal Stresses, Theories of Failure-Stress Concentration, Stress Concentration Factors, Variable Stress, Fatigue Failure, Endurance Limit, Design for Finite and Infinite Life, Soderberg and Goodman Criteria.

UNIT II

9

Loads and Forces on Links and Joints - Design of solid and hollow shafts - Rigid and flexible couplings -Threaded fasteners - rolling contact bearings-– Links Design: Path and Motion Synthesis – Cognate Linkages – Design of Spherical Joints.

UNIT III

FUNDAMENTALS OF COMPUTER GRAPHICS

9

Product cycle- Design process - Computer Aided Design – Computer graphics – co-ordinate systems- 2D and 3D transformations- homogeneous coordinates - graphic primitives (point, line, circle drawing algorithms) - Clipping- viewing transformation.

UNIT IV

CURVES AND MODELLING

9

Representation of curves - Hermite cubic spline curve, Bezier curve, B-spline curves, Fundamentals of solid modeling, Different solid representation schemes, Half -spaces, Boundary representation (B-rep), Constructive solid geometry (CSG), Sweep representation, Analytic solid modeling, Perspective, Parallel projection, Hidden line removal algorithms.

UNIT V

DESIGN OF GRIPPERS

9

Grippers – Types of Grippers Mechanisms – Gripping Methods – Gripping Force analysis – Gripper Design – Two Finger gripper – Three Finger Gripper – Magnetic Gripper Design – Vacuum Gripper Design – Hooks – Scoops – Spools – Miscellaneous Grippers

TOTAL: 45 PERIODS

COURSE OUTCOMES: Upon completion of this course, the students will be able to:
1. State the design parameters for designing the components of a robot.
2. Apply the CAD modelling techniques in designing a Robot.
3. Analyse the design parameters for designing the components of a robot.
4. Formulate the methods for designing the entire robot assembly.
5. Create a Robot CAD Model.

TEXT BOOKS:
1. Joseph Edward Shigley, Charles R. Mischke “Mechanical Engineering Design”, McGraw Hill, International Edition, 1992.
2. Sharma. C.S. and Kamlesh Purohit, “Design of Machine Elements”, Prentice Hall of India Private Limited, 2003.
3. Ibrahim Zeid, “CAD/CAM theory and Practice”, Tata McGraw Hill, 2nd edition, 2008.
4. Ashby. M.F., “Materials Selection in Mechanical Design”, Third edition, ButterworthHeineman, New York, 16th edition, 2012

REFERENCES:
1. Bhandari. V.B., “Design of Machine Elements”, Tata McGraw-Hill Publishing Company Limited, 2003.
2. Robert L. Norton, “Machine Design – An Integrated Approach”, Prentice Hall International Edition, 2000.
3. Charles. J. A. and Crane. F. A. A, “Selection and Use of Engineering Materials”, second edition, Butterworth-Heinemann Ltd., 3rd edition 2005.
4. Kevin Otto, Kristin Wood, “Product Design”, Pearson Education, 7th Reprint, 2011.
5. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2012.
6. Dragomir N. Nenchev, Atsushi Konno, Teppei Tsujita, “Humanoid Robots: Modelling and Control”, Butterworth-Heinemann, 2018 7. Zeid, I., CAD/CAM, McGraw Hil , 2008.