Department of Mechanical Engineering, PEC R19 III Year II Semester INDUSTRIAL ROBOTICS COURSE CONTENT UNIT I Introduction: Definition of a robot – Basic concepts, types of industrial robots – Robot configurations – Types of robot drives – Basic robot motions – point to point control, continuous path control. Programming of Robots and Vision System-Lead through programming methods- Teach pendent overview Of various textual programming languages like VAL etc. UNIT II Components of the Industrial Robotics: Function line diagram representation of robot arms, common types of arms. Manipulators - Types of Robot end effectors - Grippers - Tools as end effectors - Robot/End - effort interface. Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors. Feedback components: position sensors – potentiometers, resolvers, encoders – Velocity sensors. UNIT III Sensing: Range sensing - Proximity sensing - Touch sensing - Force and Torque sensing. Kinematics-Manipulators Kinematics, Rotation Matrix, Homogenous Transformation Matrix, D-H Transformation matrix, D-H method of assignment of frames. Direct and Inverse Kinematics for Industrial robots. Differential Kinematics for planar serial robots UNIT IV Trajectory planning: Joint space scheme- Cubic polynomial fit-Obstacle avoidance in operation spacecubic polynomial fit with via point, bleding scheme. Introduction Cartesian space scheme. ControlInteraction control, Rigid Body mechanics, Control architecture- position, path velocity, and force control systems, computed torque control, adaptive control, and Servo system for robot control. UNIT V Industrial Applications: Application of robots in machining - Welding - Assembly - Material handling - Loading and unloading CIM - Hostile and remote environments. TEXT BOOKS 1. Industrial Robotics by Mikell P Groover, Pearson Education. 2. Robotics and Control by Mittal R K & Nagrath I J, TMH Publications. REFERENCE BOOKS 1. Robotic Engineering – An integrated Approach by Richard D Klafter, Thomas Achmielewski and Mickael Negin, Prentice Hall India, New Delhi, 2001. 2. Automation, Production Systems, and Computer-Integrated Manufacturing by Mikell P Groover, Pearson Education, 2015. 3. Robotics Control sensing, Vision and Intelligence by K.S. Fu., R.C. Gonalez, C.S.G. Lee, McGraw Hill International Edition, 1987. Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Scanned by CamScanner Programming of Robots
