2. CourseObjectives
1. To understand the functions of the basic components of a Robot.
2. To study the use of various types of End of Effectors and Sensors
3. To understand the basic functions of Electrical, Pneumatic, Magnetic and Hydraulic Systems.
4. To impart knowledge in Robot Kinematics and Programming
5. To learn Robot safety issues and economics.
3. Course Outcomes
Upon the completion of the course, students will be able to:
1. Explain the concepts of industrial robots, classification, specifications and coordinate systems. Also summarize
the need and application of robots in different sectors.
2. Illustrate the different types of robot drive systems as well as robot end effectors.
3. Apply the different sensors and image processing techniques in robotics to improve the ability of robots.
4. Develop robotic programs for different tasks and familiarize with the kinematics motions of robot.
5. Examine the implementation of robots in various industrial sectors and interpolate the economic analysis of
robots.
5. Topics Plan
UNIT I - FUNDAMENTALS OF ROBOT
Introduction to Robot / Definition , Robot Anatomy , Co ordinate Systems , Degrees of Freedom and
Classification of Joints.
Co ordinate Systems & Work Envelope / Types of Co ordinate Systems & SCARA Robot Configuration .
To study the specifications of Robotics / Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load.
Robot Parts and their Functions / Components used to build a robot and its functions.
Need for Robots & Different Applications / Need and importance of Robots in different fields and its Applications.
6. Topics Plan –Contd.,
UNIT II - ROBOT DRIVE SYSTEMS AND END EFFECTORS
Drives / Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives
D.C. Servo Motors, Stepper Motors, A.C. Servo Motors-Salient Features / Working of D.C & A.C Servo Motors &
Stepper Motors.
Applications and Comparison of all these Drives / Pneumatic Drives-Hydraulic Drives-Mechanical Drives-
Electrical Drives.
End Effectors & Grippers/ 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 / Mechanical Grippers, Pneumatic and Hydraulic- Grippers, Magnetic
Grippers, Vacuum Grippers.
7. Topics Plan -Contd.,
UNIT III SENSORS AND MACHINE VISION
Requirements of a sensor / Principles and Applications of the following types of sensors- Position sensors -
Piezo Electric Sensor, LVDT, Resolvers.
Principles and Applications of the following types of sensors / 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.
Machine Vision / Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image
Storage, Lighting Techniques.
Machine Vision / Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object
Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
8. Topics Plan -Contd.,
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Introduction to Robot Mechanisms and its Dynamics / Forward Kinematics, Inverse Kinematics and Difference.
Robot Kinematics/ Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of
Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians.
Robot Dynamics / Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism
Design-Derivations and problems.
Robot Programming / Lead through Programming, Robot programming Languages-VAL Programming.
Robot motion commands / Motion Commands, Sensor Commands, End Effector commands and simple
Programs.
9. Topics Plan -Contd.,
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS
RGV / Working and Classification of RGV.
AGV / Working and Classification of AGV.
Implementation of Robots in Industries/ Various steps involved for implementation.
Safety Considerations for Robot Operations / Safety Considerations to be followed based on different operations
and Application's.
Economic Analysis of Robots / Classifications of Economic Analysis of Robots .
10. TEXT BOOK & REFERENCES
TEXT BOOK:
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.
REFERENCE BOOKS:
1.Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson Education, 2008.
2.Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
3. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill Book Co., 2013.
