Automation and Robotics

UNIT–I:

Introduction: Automation and Robotics, CAD/CAM and Robotics – An over view of Robotics – present and futureapplications. Components of the Industrial Robotics: common types of arms. Components, rchitecture, 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: D-H notation, D-H method of Assignment of frames, D-H Transformation Matrix, joint coordinates and world coordinates, Forward and inverse kinematics – problems on Industrial Robotic Manipulator.

UNIT–III:

Differential transformation of manipulators, Jacobians – problems. Dynamics: Lagrange – Euler and Newton – Euler formations – Problems. Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint interpolated motion – straight line motion.

UNIT-IV:

Robot actuators and Feedback components: Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors, comparision 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