ORA351 Syllabus - Foundation Of Robotics - 2021 Regulation - Open Elective | Anna University

ORA351 Syllabus - Foundation Of Robotics - 2021 Regulation - Open Elective | Anna University

ORA351	FOUNDATION OF ROBOTICS	L T P C

3003

COURSE OBJECTIVES:

1. To study the kinematics, drive systems and programming of robots.
2. To study the basics of robot laws and transmission systems.
3. To familiarize students with the concepts and techniques of robot manipulator, its kinematics.
4. To familiarize students with the various Programming and Machine Vision application in robots.
5. To build confidence among students to evaluate, choose and incorporate robots in engineering systems.

UNIT I	FUNDAMENTALS OF ROBOT	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 KINEMATICS	9

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.

UNIT III	ROBOT DRIVE SYSTEMS AND END EFFECTORS	9

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, internal grippers and external grippers, selection and design considerations of a gripper

UNIT IV	SENSORS IN ROBOTICS	9

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	PROGRAMMING AND APPLICATIONS OF ROBOT	9

Teach pendant 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: At the end of the course, students will 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.
2. Mikell.P.Groover , “Industrial Robotics – Technology, Programming and applications” McGraw Hill 2ND edition 2012.

REFERENCES:

1. Fu K.S. Gonalz R.C. and ice C.S.G.”Robotics Control, Sensing, Vision and Intelligence”, 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” 2nd Edition, 2002.
5. Jazar, “Theory of Applied Robotics: Kinematics, Dynamics and Control”, Springer India reprint, 2010.