JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

UNIT - I

Introduction: Automation and Robotics, CAD/CAM and Robotics – An over view of Robotics – present and future applications – classification by coordinate system and control system. Components of the Industrial Robotics: End effectors- types, mechanical grippers, and other types of grippers, comparison of Electric, Hydraulic and Pneumatic types of locomotion devices.

UNIT - II

Motion Analysis: Homogeneous transformations as applicable to rotation and translation – problems. Manipulator Kinematics: Specifications of matrices, D-H notation joint coordinates and world coordinates. Forward and inverse kinematics – problems.

UNIT - III

Manipulator jacobians: Differential transformation and manipulators, Jacobians – problems. Dynamics: Lagrange – Euler and Newton– Euler formations – Problems.

UNIT - IV

Trajectory planning: path planning and avoidance of obstacles, , Slew motion, joint interpolated motion – straight line motion. Programming Languages: Robot programming, languages and software packages.

UNIT - V

Robot actuators and Feed-back components: Actuators: Pneumatic, Hydraulic actuators, electric, & stepper motors. Feedback components: position sensors – potentiometers, resolvers, encoders – Velocity sensors. Robot Application in Manufacturing: Material Transfer - Material handling, loading and unloading - Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.

TEXT BOOKS:

• 1. Robo Technology Fundamentals, James G. Keramas, CENGAGE Publications
• 2. Industrial Robotics / Groover M P /Pearson Edu.
• 3. Robotics and Control/ Nagrath and Mittal.

REFERENCES:

• 1. Introduction to Robotics / John J Craig / Pearson Edu
• 2. Applied Robotics / Edwin Wise / Cengage Publications
• 3. Robotics / Fu K S / McGraw Hill.
• 4. Robotic Engineering / Richard D. Klafter, Prentice Hall
• 5. Robot Analysis and Intelligence / Asada and Slow time / Wiley Inter-Science.
• 6. Robot Dynamics & Control – Mark W. Spong and M. Vidyasagar / John Wiley & Sons (ASIA) Pte Ltd. R16 B.TECH MECHATRONICS.