Faculty of Engineering & Technology, SRM University, Kattankulathur - 603203 School of Mechanical Engineering

Department of Mechanical Engineering

Course plan

Course code Course title Semester Academic year / semester

: ME 0002

: Robotics Engineering and Applications :6 : 2013-'14/Even (Dec - Apr, 2013-14)

Date : 06. Dec .2013

Section details:

I Sec Class Details of Faculv member Room Name Room Intercom e-mail id Student No. No. No. contact

time Mr. S.Balamurugan MEB404 1806 balamurugan.sr@ktr.srmuniv.ac.in 1.15 to

1.30 pm

Mr.V.Raghavendra Rao MEDIOI 1842 raghavendra.v@ktr.srmuniv.ac.in 1.15 to 1.30 pm

Mr.M. Sachidhanandam MEB305 1805 Sachidanandam.m@ktr.srmuniv.ac.in 1.15 to 1.30 pm

Direct assessment details:

Name of assessment Marks Topics Tentative date Duration Cycle test - I 10 Upto - gripper force

analysis and design 05.02.14 100 minutes

Surprise test 05 Industrial application - 10 ­ 15 min Cycle test - II 10 Upto - Sensors 05.03.14 100 minutes Model examination 20 Full Syllabus 15.04.14 3 hours End semester examination 50 Full Syllabus 05.05.14 3 hours Attendance 05

Syllabus of the course:

L T P C

MEOOO2 Robotics Engineering and Applications 3 0 0 3

Prerequisite

Nil

PURPOSE To impart knowledge about the engineering aspects of Robots and their applications.

INSTRUCTIONAL OBJECTIVES To familiarize the

• Basics of robots • Control system and end effectors • Sensor technology • Industrial application of robot

INTRODUCTION

Basic concepts - Robot anatomy - Manipulators - kinematics: Forward and inverse kinematics - Precision movement, robot specifications and Work volume, Types of Robot drives - Basic robot motions - Point to point control, continuous path control.

END EFFECTORS

End effectors - classification - mechanical, magnetic, vacuum and adhesive gripper - gripper force analysis and design. Robot control - unit control system concept - servo and non-servo control of robot joints, adaptive and optimal control.

SENSORS

Sensor devices, Types of sensors - contact, position and displacement sensors, Force and torque sensors ­Proximity and range sensors - acoustic sensors - Robot vision systems - Sensing and digitizing - Image processing and analysis.

ROBOT PROGRAMMING

Robot language classification - programming methods - off and on line programming - Lead through method ­Teach pendent method - VAL systems and language, simple program.

INDUSTRIAL APPLICATIONS

Application of robots - Material handling - Machine loading and unloading, Assembly, Inspection, Welding, Spray painting, Mobile robot, Microbots - Recent developments in robotics- safety considerations.

TEXT BOOKS

• Deb, S. R., Robotics technology and flexible automation, Tata McGraw Hill publishing company limited, New Delhi, 1994

• Mikell P. Groover, Industrial Robotics Technology Programming and Applications, McGraw Hill Co., Singapore, 1995

REFERENCE BOOKS

• Klafter, R. D, Chmielewski, T. A. and Noggins, Robot Engineering: An Integrated Approach, Prentice Hall of India Pvt. Ltd., New Delhi, 1994

• Fu, K. S., Gonzalez, R. C., & Lee, C.S.G., Robotics control, sensing, vision and intelligence, McGraw Hill Book Co., Singapore, 1987

• Craig, J. J., Introduction to Robotics mechanics and control, Addison-Wesley, London, 1999

L T P C

MEOOO2 ROBOTICS ENGINEERING AND ITS APPLICATIONS 3 0 0 3

Prerequisite

Nil

Student outcomes Program Educational Objectives

The main objective of the B.Tech in Mechanical Engineering Program is to

provide a periodically-updated curriculum so that, following the completion

of the program and with a few years of experience, our alumni will have the

expertise to:

3. Solve industrial, 4. Work in large

mechanical

1. Practice 2. Enhance

cross-functional

engineering in

professional social, and

teams and

different disciplines

practice to meet the environmental

problems with pursue life-long

towards system

global standards

appropriate learning.

design, realization,

with ethical and

techniques and

and manufacturing.

social responsibility.

tools. tools.

X X

of mathematics, science, and

engineering

(a) an ability to apply knowledge

X X X

component, or process to meet

desired needs within realistic

constraints such as economic,

environmental, social, political,

ethical, health and safety,

manufacturability, and

sustainability

(c) an ability to design a system,

X X

formulate, and solve engineering

problems

(e) an ability to identify,

XX(j) a knowledge of contemporary X

issues

X

techniques, skills, and modern

engineering tools necessary for

engineering practice.

X X(k) an ability to use the

Course designed by Department of Mechanical Engineering

1 k

outcome

Student a c dIb Ie I f IG h Ii I j x xx I IxI Ix I I

PROFESSIONALCategory GENERAL ENGINEERING SCIENCES2 BASIC SCIENCES

(G) AND TECHNICAL ART SUBJECTS(B)

(P)

X

(E)

Broad area Thermal Genaral

(for professional courses only,

3 Manufacturing Design

Xi.e 'under P' category)

Course Coordinator M r.S.BALAM URUGAN4

COURSE PLAN -2012-2013

ME0002- ROBOTICS ENGINEERING AND APPLICATIONS

S.NO TOPICS HOURS CHAPTER

INTRODUCTION

1 Basic concepts of robotics (Laws of robotics, robotic systems), 1 TI-Chl

RIA definition

2 History ofRobotics, Automation and robotics 1 TI-Chl

3 Robot anatomy(Robot configurations, Robot motions, Joint notation 1 Tl,Ch2 scheme)

4 Robot Manipulators kinematics 1 Tl,Ch4

5 Kinematics: Forward and inverse kinematics, Problems on 2 Tl,Ch4 kinematics

6 Precision movement (Spatial resolution, accuracy, repeatability) 1 Tl,Ch2

7 Work volume, robot specifications 1 Tl,Ch2

8 Types of Robot drives, electric drive, Hydraulic, pneumatic drives 1 Tl,Ch2

9 Basic robot motions, Point to point control, continuous path control. 1 Tl,Ch8

END EFFECTORS

10 End effectors-Introduction, classification. 1 Tl,Ch5

11 Mechanical, Magnetic grippers. 1 Tl,Ch5

12 Vacuum and adhesive gripper. 1 Tl,Ch5

13 Gripper force analysis and design. 1 Tl,Ch5

14 Problems on gripper design and force calculation. 1 Tl,Ch5

15 Robot control - unit control system concept. 1 Tl,Ch2

16 Servo and non-servo control of robot joints. 1 Tl,Ch3

17 Adaptive and optimal control. 1 Rl,Chl0

SENSORS

18 Sensor devices, Types of sensors 1 Tl,Ch6

19 Types of sensors - contact, position and displacement sensors 1 Tl,Ch6

20 Force and torque sensors 1 Tl,Ch6

21 Proximity and range sensors, acoustic sensors. 1 Tl,Ch6

22 Robot vision systems - Sensing and digitizing. 2 Tl,Ch7

23 Image processing and analysis. 2 Tl,Ch7

ROBOT PROGRAMMING

24 Robot language, classification. 1 T1,Ch8

25 Programming methods - off and on line programming. 1 Tl,Ch8

26 Lead through method-powered and Manual lead through. 1 Tl,Ch8

27 Teach pendent method. 1 Tl,Ch8

28 VAL systems and language, Simple program. 1 Tl,Ch6

29 PaIIetizing program. 1 T2, Ch6

30 Welding Robot program. 1 T2, Ch6

31 Program on Loading/Unloading of press. 2 Tl,Ch8

INDUSTRIAL APPLICATION

32 Application of Robots with examples. 2 T1,Ch13

33 Material handling, Constrains, Application - Machine loading and 1 T1,Ch13 unloading.

34 Assembly Robot, Assembly operation, RCC device, Benefits­ 1 T1,Ch13 Inspection robot, used in Quality control.

35 Welding Robot, features, sensors, Advantages,-Painting Robot, 1 T1,Ch13 Requirement, Spray painting.

36 Mobile robot, mobility and application. 1 R2,chlO

37 Microbots, types and Application. 2 Science direct

38 Recent developments in robotics- safety considerations. 2 T1,Ch13

Text Books:

TI. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd Edition, 1989

TI. Deb. S.R., "Robotics Technology and Flexible Automation", Tata McGraw - Hill Publishing Company Limited, 1994.

T3. David F.Rogers, L.Alan adams, "Mathematical elements for computer graphics", 1995.

Reference Books:

Rl. John J. Craig, "Introduction to Robotics", Addison Wesley, ISE 1999

R2. Arthor Critchlow, "Introduction to Robotics", Macmillan, 1985

R3. Mohsen Shahinpoor, "A Robot Engineering Text Book", Harper and Row, 1987

R4. Francis N. Nagy, "Engineering Foundations of Robotics", Addison Wesley, 1987

Name of the faculty:

6 {]. l.l Mr.M. Sachidhanandam

\~ . ~ \iVy Sl1~~ Jurse Coordinator

Mr. S.Balamurugan