JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Prerequisites

Kinematics of machinery

Course Objectives:

• To demonstrate knowledge of different types of actuators used in robotic systems.
• To analyze the position and velocity kinematics of a robot arm, implement in 2D.
• To analyze the dynamics of a robot arm, implement in 2D.
• To analyze sensor signals to implement real-time control algorithms.
• To demonstrate knowledge of error propagation in electrical, mechanical and computational systems.
• To construct, program, and test the operation of a robotic system to perform a specified task.

Course Outcomes

After doing this course, the student should be able to,

• Understand the evolution, classification, structures and drives for robots.
• Teach the students about the kinematic arrangement of robots and its applications in the area of manufacturing sectors.
• Expose the students to build a robot for any type of application.

UNIT - I

Introduction: Automation and Robotics, Robot anatomy configuration, motions joint motion and notatioin, work volume, robot drive system, control system and dynamic performance, precision of movement. Control System and Components: basic concept and modals controllers control system analysis, robot actuators and feedback components (sensors): Internal & External Sensors, Positions sensors, velocity sensors - Desirable features, tactile, proximity and range sensors, uses sensors in robotics, Power Transmission Systems.

UNIT - II

Motion Analysis and Control: Manipulator kinematics, position representation Homogeneous transformation, D-H Notation, D-H Transformation Matrix, Forward & Inverse transformations, problems on planar & spatial manipulators, Differential Kinematics, Jacobian Formulation, problems, manipulator path control: Slew, Joint Interpolated & Straight line motions, trajectory planning: Joint space scheme, Cartesian space scheme, Cubic Polynomial fit without and with via point, blending.

UNIT - III

Robot Dynamics: Lagrange – Euler & Newton - Euler formulations, problems on two link planar manipulators, configuration of robot controller. End Effectors: Grippers-types, operation, mechanism, force analysis, tools as end effectors consideration in gripper selection and design. Machine Vision: Functions, Sensing and Digitizing-imaging, Devices, Lighting techniques, Analog to digital single conversion, Image storage, Image processing and Analysis-image data reduction, Segmentation feature extraction. Object recognition, training the vision system, Robotics application.

UNIT - IV

Robot Programming: Lead through programming, Robot programming as a path in space, Motion interpolation, WAIT, SINGNAL AND DELAY commands, Branching capabilities and Limitations. Robot Languages: Textual robot languages, Generation, Robot language structures, Elements and functions.

R19 M.Tech. Advanced Manufacturing Systems

UNIT - V

Robot Cell Design and Control: Robot cell layouts-Robot centered cell, In-line robot cell, Considerations in work cell design, Work cell control, Inter locks, Error detection, Work cell controller. Robot Applications: Material transfer, Machine loading/unloading. Processing operations, Assembly and Inspection, Future Applications.

TEXT BOOKS:

• 1. Introduction to Robotics Mechanics & Control by John J. Craig, Pearson
• 2. Industrial robotics by Mikell P. Groover, McGraw Hill.

REFERENCE BOOKS:

• 1. Industrial robotics by Mikell P. Groover, McGraw Hill
• 2. Robotics by K.S. Fu, McGraw Hill.
• 3. Introduction to Robotics Mechanics & Control by John J. Craig, Pearson
• 4. Robot Analysis by Lung Wen Tsai, John Wiley & Sons
• 5. Robot Analysis and Control by Asada H. and J. E. Slotin, Wiley, New York R19 M.Tech. Advanced Manufacturing Systems M. TECH. I Year II Sem. (AMS) ADVANCED CAD/CAM LAB (Lab – III) Features and selection of CNC turning and milling centres. Practice in part programming and operation of CNC turning machines, subroutine techniques and use of cycles. Practice in part programming and operating a machining centre, tool planning and selection of sequences of operations, tool setting on machine, practice in APT based NC programming. Geometric Modelling of 2D & 3D objects by using any CAD packages. Analysis of Objects by using any Analysis packages. CAD Package References: AUTO CAD PROEE CATIA V5 UNIGRAPHICS IRON CAD ANALYSIS Package References: ANSYS The students will be given training on the use and application of the following software to manufacturing problems;
• 1) Auto MOD Software
• 2) PROMOD
• 3) SLAM – II
• 4) CAFIMS
• 5) Flexsim They also learn how to write sub routines in C-language and interlinking with the above packages. Problems for modeling and simulation experiments:
• 1) AGV planning
• 2) ASRS simulation and performance evaluation
• 3) Machines, AGVs and AS/RS integrated problems
• 4) JIT system
• 5) Kanban flow
• 6) Material handling systems
• 7) M.R.P. Problems
• 8) Shop floor scheduling etc. R19 M.Tech. Advanced Manufacturing Systems M. TECH. I Year II Sem. (AMS) SIMULATION OF MANUFACTURING SYSTEMS LAB (Lab – IV) A. MANUFACTURING SIMULATION The students will be given training on the use and application of the following software to manufacturing problems:
• 1. Auto MOD Software.
• 2. PROMODEL
• 3. SLAM-II
• 4. CAFIMS
• 5. Flexsim They also learn how to write sub routines in C-language and interlinking with the above packages. Problems for modelling and simulation experiments:
• 1. AGV planning
• 2. ASRS simulation and performance evaluation
• 3. Machines, AGVs and AS/RS integrated problems
• 4. JIT system
• 5. Kanban flow
• 6. Material handling systems
• 7. M.R.P. Problems
• 8. Shop floor scheduling etc. B. PRECISION ENGINEERING
• 1. Hydraulic and Pneumatic circuits
• 2. Closed loop control systems
• 3. Study of the chip formation in turning process
• 4. Study of operation of tool and cutter grinder, twist drill grinder, Centreless grinder
• 5. Determination of cutting forces in turning
• 6. Experiments in unconventional manufacturing processes-AJM and study of USM, EDM, Laser Machining and Plasma spraying
• 7. Inspection of parts using tool makers microscope, roughness and form tester
• 8. Study of micro-controllers, programming on various CNC machine tools and also controllers
• 9. Studies on PLC programming
• 10. Study and programming of robots
• 11. Condition monitoring in machining process using acoustic emission. R19 M.Tech. Advanced Manufacturing Systems M. TECH. II Year I Sem. (AMS)