20MTT62 – MECHANICS OF SERIAL MANIPULATOR
COURSE OUTCOMES On completion of the course the students will be able to | |
CO1: | interpret the features of a serial manipulator with end effector (K3) |
CO2: | compute position and orientation based on robot kinematic structure (K3) |
CO3: | develop the forward and inverse kinematics for serial manipulator (K3) |
CO4: | analyse the differential motions and velocity of serial manipulator (K3) |
CO5: | formulate trajectory and robot dynamics (K3) |
UNIT – I | | 9 | ||
Fundamentals of Serial Manipulator: History of robotics - Components of industrial robot – Joint notation scheme - Classification of robots - Robot specifications - Precision of movements - End Effectors: Types of end effectors -Mechanical Gripper: Gripper force analysis - Vacuum cup - Magnetic gripper - Special types of grippers -. Programming modes - Robot applications. | ||||
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UNIT – II | | 9 | ||
Frame Transformation: Descriptions: Position, Orientation and Frames - Matrix representation: Point, vector, frame and rigid body - Homogeneous Transformation matrices – Representation: Translation, Rotational and Combined transformation – Simple problems. | ||||
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UNIT – III | | 9 | ||
Robot Kinematics: Forward and inverse kinematics – Equations for position and orientation – Denavit-Hartenberg representation of forward kinematic equations: Two and Three link planer, PUMA and SCARA - Inverse kinematic equation: Two and three link planar. | ||||
UNIT – IV | | 9 | ||
Differential Motions and Velocities: Introduction - Linear and angular velocities of a rigid body - Velocity propagation – Derivation of Jacobian for serial manipulator – Identification of singularities. | ||||
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UNIT – V | | 9 | ||
Trajectory Planning and Robot Dynamics: Joint space trajectory - Cartesian space trajectory – Simple problems. Robot Dynamics: Acceleration of a rigid body - Inertia of a link - Equation of motion: Legrangian formulation – Newton Euler formulation. | ||||
| TOTAL: 45 | |||
BOOKS: | ||||
1. | Saeed B. Niku, "Introduction To Robotics: Analysis, Control, Applications", 2nd Edition, Wiley India Pvt. Ltd., Noida, 2011. | |||
2. | Groover M.P., "Industrial Robotics, Technology, Programming and Applications", 2nd Edition, McGraw-Hill, New Delhi, 2017. | |||
3. | Craig John J., "Introduction to Robotics: Mechanics and Control", 3rd Edition, Pearson Education, New Delhi, 2017. | |||
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A path is defined as the collection of a sequence of configurations a robot makes to go from one place to another without regard to the timing of these configurations.
A trajectory is related to the timing at which each part of the path must be attained.
Path versus Trajectory
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Joint-Space versus Cartesian-Space
The description of the motion to be made by the robot by its joint values is called joint-space description.
The sequence of movements the robot makes is described in Cartesian-space and is converted to joint-space at each segment.
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(a) trajectory specified in Cartesian coordinates may force the robot to run into itself
(b) trajectory may require a sudden change in the joint angles.
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Basics of Trajectory Planning
Joint-space, non-normalized movements of a 2-DOF robot
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Joint-space, normalized movements of a robot with 2 DOF
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Cartesian-space movements of a
2-DOF robot
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Trajectory planning with an acceleration/deceleration regiment
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Blending of different motion segments in a path
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Joint-Space Trajectory Planning
Third-Order Polynomial Trajectory Planning
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Fifth-Order Polynomial Trajectory Planning
Assume the initial acceleration and final deceleration will be 5/sec2 .
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