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MECHANICAL & VIII TERM FOURTH YEAR

SCHOOL OF
AUTOMOBILE
ENGINEERING
ENGINEERING
&TECHNOLOGY
DEPARTMENT
1 Course number
MEC420

2 Course Title
Robotics and Robot Applications

3 Credits
4

4 Contact Hours (L-

T-P) 4-0-0

5 Course Objective 1. To familiarize the students with the basic kinds of robots, the transmission systems
used to drive robots and the sensors used in robots.
2. To introduce to them the elementary terminologies used in robots.
3. To make them understand the forward and reverse kinematics of robots.
4. To introduce to them the actuators and the various types of controls used in robots.
5. To make them understand the various end effectors used in robots and the types and
design features associated with grippers.
6. To introduce him to the various types of sensors used in robotics.
7. To acclimatize them to Matlab and if possible to Robostudio.
8. To make known to them the applications of robots in industries.
6 Course Outcomes On successful completion of this module students will be able to

1. Define a robot and classify different kinds of robots and configurations associated with a
robot.
2. Calculate various parameters such as accuracy, repeatability etc for a robot.
3. Calculate the kinematic requirements for desired movements of a robot
4. Design a basic robotic manipulator.
5. Describe a SCARA.
6. Describe and identify different kinds of sensors and end effectors.
7. Set up a vision system commonly used in robotics.
8. Explain and compare the basic drives used in robots.
9. Interpret the programming languages used in robots, the problems and limitations of
various languages.
10. select a robot according to the requirements.
11. Prepare a code in Matlab for basic robot.
12. Define Micro-Robotics and MEMS and know the various fabrication technologies used in
Micro-Robotics.
7 Outline syllabus
7.01 MEC420.A Unit A Introduction and Robotics
7.02 MEC420.A1 Unit A Topic 1 Robot definition: Robotic systems - Its role in automated
manufacturing; robot anatomy; History and development of industrial
robots and manipulators.
7.03 MEC420.A2 Unit A Topic 2 Basic structure of robots, Resolution, accuracy and repeatability.
7.04 MEC420.A3 Unit A Topic 3 Classification, configuration of robots, arm, body and wrist motions.
7.05 MEC420.B Unit B
Manipulators and Manipulator kinematics
7.06 MEC420.B1 Unit B Topic 1
Matrix algebra, Inverse of matrices, rotational groups, matrix
representations of coordinate transformation, transformation about
reference frame and moving frame.
7.07 MEC420.B2 Unit B Topic 2 Forward & Inverse kinematics examples of 2R, 3R and 3P manipulators
7.08 MEC420.B3 Unit B Topic 3 specifying position & orientation of rigid bodies eulers angle and fixed
rotation for specifying position & orientation
7.09 MEC420.B4 Unit B Topic 4 D-H representation of kinematic linkages.
7.10 MEC420.B5 Unit B Topic 5 Introduction to SCARA and its kinematics
7.11 MEC420.C Unit C Robotic Grippers and sensors
7.12 MEC420.C1 Unit C Topic 1 Robot end-effectors, mechanical, magnetic and vacuum grippers.
7.13 MEC420.C2 Unit C Topic 2 Sensors- Functioning, types, analysis and field of applications. Internal
and external sensors,
7.14 MEC420.C3 Unit C Topic 3
Position-potentiometric, optical sensors, encoders-absolute,incremental
sensors, proximity sensors, velocity and acceleration sensors, force and
torque sensors.
7.15 Unit C Topic 4
MEC420.C4 Vision systems-Median filtering, thresholding, discreetisation,
smoothening of binary image, recognition procedure, CCD camera.
7.16 MEC420.D Unit D Robot drives, control and basic programming
7.17 MEC420.D1 Unit D Topic 1 Drives used in robots- Hydraulic, pneumatic and electric drives.
7.18 MEC420.D2 Unit D Topic 2
Comparison of drive systems and their relative merits and demerits.
7.19 MEC420.D3 Unit D Topic 3 Introduction to three levels of robot programming
Requirements of robot programming languages, problems peculiar to
robot programming languages.
Introduction to Matlab.
7.22 MEC420.E Unit E Applications of Robots and futuristic topics
7.23 MEC420.E1 Unit E Topic 1 Handling, Loading and Unloading, Manufacturing cells, Welding, spray
painting, Assembly and machining.
7.24 MEC420.E2 Unit E Topic 2 Introduction to Micro-robotics and MEMS(Microelecto mechanical
systems).
7.20 MEC420.E3 Unit E Topic 3
Introduction to Fabrication technologies to Micro-robotics.
8 Course Evaluation
8.1 Course work: 30%
8.11 Attendance None
8.12 Homework Three best out of 4 assignments: 20 marks
8.13 Quizzes Two 30-minutes surprise quizzes: 10 marks
8.14 Projects None
8.15 Presentations None
8.16 Any other None
8.2 MTE One, 20%
8.3 End-term examination: 50%
9 References
9.1 Text book 1. Koren, Y., Robotics for Engineers, McGraw Hill Book Co., 1985
2. Deb. S. R., Robotics Technologies and Flexible Automation, Tata McGraw Hill
Co. 1994
9.2 Other References
1. Groover, M.P., Weiss, M., Nagel, R. N., Odrey, N. G., Industrial
Robotics (Technology, Programming and Applications), McGraw Hill, 1996.
3. Craig, J. J. Introduction to Robotics, Addision- wisely, 1989.
4. Matlab and Robostudio software package.
Mapping of Outcomes vs. Topics

Outcome no. 1 2 3 4 5 6 7 8 9 10 11 12
Syllabus topic
MEC420.A X X
MEC420.A1 X
MEC420.A2 X
MEC420.A3 X
MEC420.B X X X
MEC420.B1 X X
MEC420.B2 X X
MEC420.B3 X X
MEC420.B4 X
MEC420.B5 X
MEC420.C X X
MEC420.C1 X
MEC420.C2 X
MEC420.C3 X
MEC420.C4 X
MEC420.D X X X
MEC420.D1 X
MEC420.D2 X
MEC420.D3 X
MEC420.D4 X
MEC420.D5 X
MEC420.E X X
MEC420.E1 X
MEC420.E2 X
MEC420.E3 X