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 systems. 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 formulations — Problems.

UNIT - IV

Trajectory Planning: Path planning and avoidance of obstacles, Slew motion, joint interpolated motion — straight line motion. Programming Languages: problems. Robot programming, languages and software packages

UNIT - V

Robot actuators and Feed-back components: Actuators: Pneumatic, Hydraulic actuators, electric and 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. Industrial Robotics / Groover M P /Pearson Edu.
• 2. Robo Technology Fundamentals, James G. Karamas, CENGAGE Publications

REFERENCES:

• 1. Robotics / Fu K S/ McGraw Hill.
• 2. Robotic Engineering, I Richard D. Klaftezl Prentice Hall.
• 3. Robot Analysis and intelligence / Asada and Slotine A Wiley Inter Science.
• 4. Robot Dynamics & Control/Mark W. Spong and M. Vidya Sagar I John Wiley & Sons (ASIA) Pvt. Ltd.
• 5. Robotics and Control I Mittal R K & Nagrath I J / TMH. R18 B.TECH MECHATRONICS III YEAR