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ME2028 ROBOTICS


ME2028 ROBOTICS LTPC
(Common to Mechanical, Automobile and Production - core) 30 03

OBJECTIVES
To understand the basic concepts associated with the design and functioning and
applications of Robots
To study about the drives and sensors used in Robots
To learn about analyzing robot kinematics and robot programming

UNIT I FUNDAMENTALS OF ROBOT 7
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 Functions - Need for Robots - Different Applications

UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives - Hydraulic Drives - Mechanical Drives - Electrical Drives - D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors - Salient Features, Applications and
Comparison of Drives End Effectors - 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

UNIT III SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors - Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured, Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity
Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors),
Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors, Compliance Sensors, Slip Sensors. Camera, Frame Grabber, Sensing and Digitizing Image Data - Signal
Conversion, Image Storage, Lighting Techniques. Image Processing and Analysis -
Data Reduction: Edge detection, Segmentation Feature Extraction and Object Recognition - Algorithms. Applications - Inspection, Identification, Visual Serving and Navigation.

UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and
Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2
Dimensional), Four Degrees of Freedom (In 3 Dimensional) - Deviations and Problems. Teach Pendant Programming, Lead through programming, Robot programming
Languages - VAL Programming - Motion Commands, Sensor Commands, End effecter
commands, and Simple programs

UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries - Various Steps; Safety Considerations for Robot Operations; Economic Analysis of Robots - Pay back Method, EUAC Method, Rate of Return Method.

TOTAL: 45 PERIODS






 
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