JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Course Objectives

Student will be able to

• 1. Classification by coordinate system and control system
• 2. Acquire Knowledge on Different types Power Sources and Sensors
• 3. Classification of Manipulators, Actuators and Grippers
• 4. Acquire Knowledge on kinematics and Applications of different Robots

Course Outcomes

After completion of the course the student is able to:

• 1. Acquire knowledge on different types of Power Sources (actuators) and Sensors, Classification Of Manipulators, Actuators and Grippers
• 2. Acquire knowledge on different applications of various types of robots.
• 3. Analyze the direct and the inverse kinematic problems and calculate the manipulator dynamics
• 4. Able to identify the applications of robots in different process operations. .

UNIT - I: Basic Concepts & Power Sources Fundamentals

An over view of Robotics, classification of Robots, Robot Components, Robot degreesof freedom, Robot Joints, Robot Coordinates, Robot reference frames, Programming modes, Robot Characteristics. Actuators: Characteristics of activating system, comparison of activating system Hydraulic devices, Pneumatic devices, electric motors, magnetostrictive actuators.

UNIT - II: Sensors, Manipulators and Grippers

Sensors: Sensors characteristics, Position sensors, velocity sensors, acceleration sensors, torque sensors, micro switches, lighten infrared sensors, touch and tactile sensors, proximity sensors, range finders.

Grippers: Robot end effectors, Classification, drive system for Gripper, Mechanical Grippers, Magnetic Grippers, Vacuum Grippers, Adhesive Grippers, Hooks, Scoops and other Miscellaneous Devices, Gripper force Analysis and Gripper Design, Active and passive Grippers.

UNIT - III: Kinematics

Matrix representation of translational and Rotational motion – Homogeneous Transformation- DH representation of standard configuration Robots- Inverse Kinematics. Joint space vs. Cartesian space- Basics of Trajectory planning in joint and Cartesian space.

UNIT - IV: Low level and high-level vision

Image acquisition, Illumination Techniques, Imaging Geometry, Some Basic Relationships between Pixels, Segmentation, Description, Segmentation and Description of 3-D Structures, Recognition, Interpretation.

UNIT - V: Robot Applications

Material Transfer and Machine loading/unloading: General Considerations in Robot Material Handling, Material Transfer application, Machine loading and unloading. Liquid handling and pumping. Processing operations: Spot welding, Continuous Arc Welding, Spray Coating, other processing operations using Robots. Assembly and Inspection: Assembly and Robot Assembly automation, Parts Presentation methods, Assembly operations, compliance and the Remote Center Compliance (RCC) Device, Assembly system configuration, Adaptable-Programmable assembly system, Designing for Robotic Assembly, Inspection Automation.

R18 B.TECH EIE III YEAR

TEXT BOOKS:

• 1. Mikell. P, Weiss.G. M, Nage. l R. N and Odraj .N.G, ‖Industrial Robotics”, McGraw Hill Singapore, 1996.
• 2. Ghosh, ‖Control in Robotics and Automation: Sensor Based Integration”, Allied Publishers, Chennai, 1998.

REFERENCES:

• 1. Deb. S.R, ‖Robotics technology and flexible Automation”, John Wiley, USA 1992.
• 2. Asfahl. C.R, ―Robots and manufacturing Automation”, John Wiley, USA 1992.
• 3. Klafter. R. D, Chimielewski. T. A, Negin. M, ―Robotic Engineering – An integrated approach”, Prentice Hall of India, New Delhi, 1994. R18 B.TECH EIE III YEAR