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SYLLABUS

UNIT-I

Introduction: Automation and robotics CAD/CAM and robotics – An over view of Robotics – Present and future applications. Components of the Industrial Robotics: Common types of arms. Components, Architecture, Number of degrees of freedom – Requirements and challenges of end effectors, Design of end effectors, Precision of Movement: Resolution, Accuracy and Repeatability, Speed of Response and Load Carrying Capacity.

UNIT-II

Motion Analysis: Basic Rotation Matrices, Equivalent Axis and Angle, Euler Angles, Composite Rotation Matrices. Homogeneous transformations as applicable to rotation and translation – Problems. Manipulator Kinematics: H notation-H method of Assignment of frames-H Transformation Matrix, Joint coordinates and world coordinates, Forward and inverse kinematics – Problems on Industrial Robotic Manipulation.

UNIT-III

Differential transformation of manipulators, Jacobians – Problems. Dynamics: Lagrange – Euler and Newton Euler formations – Problems. Trajectory planning and avoidance of obstacles, path planning, Slew motion, Joint interpolated motion – Straight line motion.

UNIT-IV

Robot Actuators and Feedback Components Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors, Comparison of Actuators, Feedback components: Position sensors – Potentiometers, Resolvers, Encoders – Velocity sensors, Tactile and Range sensors, Force and Torque sensors.

UNIT-V

Robot Application in Manufacturing Material Transfer – Material handling, Loading and unloading – Processing – Spot and continuous arc welding & spray painting – Assembly and Inspection.