Robotics detail syllabus for Automobile Engineering (Auto), 2017 scheme is taken from VTU official website and presented for VTU students. The course code (17AU651), and for exam duration, Teaching Hr/week, Practical Hr/week, Total Marks, internal marks, theory marks, duration and credits do visit complete sem subjects post given below.
For all other auto 6th sem syllabus for be 2017 scheme vtu you can visit Auto 6th Sem syllabus for BE 2017 Scheme VTU Subjects. For all other Professional Elective-2 subjects do refer to Professional Elective-2. The detail syllabus for robotics is as follows.
Course Objectives:
At the end of the course, students will be able to
- Explain basics of robots.
- Analyze motions of robotic manipulator.
- Analyze dynamics of robotic arm.
- Describe different types of sensors and actuators.
- Explain controls of robots.
Module 1
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Module 2
Kinematics of Serial Manipulators: Direct kinematics of 2R, 3R, RRP, RPR manipulator, puma560 manipulator, SCARA manipulator, Stanford arm, Inverse kinematics of 2R, 3R manipulator, puma 560 manipulator. Velocity and Statics of Manipulators: Differential relationships, jacobian, Differential motions of a frame ( translation and rotation), Linear and angular velocity of a rigid body, Linear and angular velocities of links in serial manipulators, 2R, 3R manipulators, Jacobian of serial manipulator, Velocity ellipse of 2R manipulator, Singularities of 2R manipulators, Statics of serial manipulators, Static force and torque analysis of 3R manipulator, Singularity in force domain.
Module 3
Dynamics of Manipulators: Kinetic energy, Potential energy, Equation of motion using Lagrangian, Equation of motions of one and two degree freedom spring mass damper systems using Lagrangian formulation, Inertia of a link, Recursive formulation of Dynamics using Newton Euler equation, Equation of motion of 2R
manipulator using Lagrangian, Newton-Euler formulation.
Module 4
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Module 5
Robot Actuators:
Types, Characteristics of actuating system: weight, power-to-weight ratio, operating pressure, stiffness vs. compliance, Use of reduction gears, comparison of hydraulic, electric, pneumatic, actuators, Hydraulic actuators, proportional feedback control, Electric motors: DC motors, Reversible AC motors, Brushles DC motors, Stepper motors- structure and principle of operation, stepper motor speed-torque characteristics.
Robot Sensor:
Position sensors- potentiometers, Encoders, LVDT, Resolvers, Displacement sensor, Velocity sensor- encoders, tachometers, Acceleration sensors, Force and Pressure sensors – piezoelectric, force sensing resistor, Torque sensors, Touch and tactile sensor, Proximity sensors-magnetic, optical, ultrasonic, inductive, capacitive, eddy-current proximity sensors.
Course Outcomes:
After completion of above course, students will be able to
- Explain basics of robots.
- Analyze motions of robotic manipulator.
- Analyze dynamics of robotic arm.
- Choose different types of sensors and actuators.
- Explain robot control
Text Books:
- Fundamental concepts and analysis of robots- Ghosal A., Oxford, 2006.
- Introduction to Robotics Analysis, Systems, Applications- Niku, S. B., Pearson education, 2008.
Reference Books:
- Introduction to Robotics- Mechanics and Control, Craig, J.J., 2nd edition, Addison-Welsey, 1989.
- Fundamentals of Robotics, Analysis and Control- Schilling R.J., PHI, 2006.
For detail syllabus of all other subjects of BE Auto, 2017 regulation do visit Auto 6th Sem syllabus for 2017 Regulation.
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