ME2028 ROBOTICS SYLLABUS | ANNA UNIVERSITY BE MECHANICAL ENGINEERING 7TH SEMESTER SYLLABUS REGULATION 2008 2011-2012 BELOW IS THE ANNA UNIVERSITY SEVENTH SEMESTER B.E. MECHANICAL ENGINEERING DEPARTMENT SYLLABUS IT IS APPLICABLE FOR ALL STUDENTS ADMITTED IN THE YEAR 2011-2012 (ANNA UNIVERSITY CHENNAI,TRICHY,MADURAI,TIRUNELVELI,COIMBATORE), 2008 REGULATION OF ANNA UNIVERSITY CHENNAI AND STUDENTS ADMITTED IN ANNA UNIVERSITY CHENNAI DURING 2009
ME2028 ROBOTICS L T P C
3 0 0 3
OBJECTIVES:
To understand the basic concepts associated with the design and functioning and
applications of Robots To study about the drives and sensors used in Robots
To learn about analyzing robot kinematics and robot programming
UNIT I FUNDAMENTALS OF ROBOT 7
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay
Load – Robot Parts and Functions – Need for Robots – Different Applications
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications and
Comparison of Drives End Effectors – Grippers – Mechanical Grippers, Pneumatic and
Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three
Fingered Grippers; Internal Grippers and External Grippers; Selection and Design
Considerations
UNIT III SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors
– Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders,
Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured,
Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity
Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors),
Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors, Compliance Sensors,
Slip Sensors. Camera, Frame Grabber, Sensing and Digitizing Image Data – Signal
80
Conversion, Image Storage, Lighting Techniques. Image Processing and Analysis –
Data Reduction: Edge detection, Segmentation Feature Extraction and Object
Recognition - Algorithms. Applications – Inspection, Identification, Visual Serving and
Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and
Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2
Dimensional), Four Degrees of Freedom (In 3 Dimensional) – Deviations and Problems.
Teach Pendant Programming, Lead through programming, Robot programming
Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter
commands, and Simple programs
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety
Considerations for Robot Operations; Economic Analysis of Robots – Pay back Method,
EUAC Method, Rate of Return Method.
TOTAL: 45 PERIODS TEXT BOOK:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”,
McGraw-Hill, 2001
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw-Hill Book Co., 1987
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992
3. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995
ME2028 ROBOTICS L T P C
3 0 0 3
OBJECTIVES:
To understand the basic concepts associated with the design and functioning and
applications of Robots To study about the drives and sensors used in Robots
To learn about analyzing robot kinematics and robot programming
UNIT I FUNDAMENTALS OF ROBOT 7
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay
Load – Robot Parts and Functions – Need for Robots – Different Applications
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications and
Comparison of Drives End Effectors – Grippers – Mechanical Grippers, Pneumatic and
Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three
Fingered Grippers; Internal Grippers and External Grippers; Selection and Design
Considerations
UNIT III SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors
– Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders,
Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured,
Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity
Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors),
Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors, Compliance Sensors,
Slip Sensors. Camera, Frame Grabber, Sensing and Digitizing Image Data – Signal
80
Conversion, Image Storage, Lighting Techniques. Image Processing and Analysis –
Data Reduction: Edge detection, Segmentation Feature Extraction and Object
Recognition - Algorithms. Applications – Inspection, Identification, Visual Serving and
Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and
Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2
Dimensional), Four Degrees of Freedom (In 3 Dimensional) – Deviations and Problems.
Teach Pendant Programming, Lead through programming, Robot programming
Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter
commands, and Simple programs
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety
Considerations for Robot Operations; Economic Analysis of Robots – Pay back Method,
EUAC Method, Rate of Return Method.
TOTAL: 45 PERIODS TEXT BOOK:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”,
McGraw-Hill, 2001
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw-Hill Book Co., 1987
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992
3. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995
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