JNTUK- B.Tech 3-2 Sem ROBOTICS Subject Material

JNTUK- B.Tech 3-2 Sem ROBOTICS Subject Material

UNIT-1

INTRODUCTION:Automation and Robotics. CAD/CAM and Robotics - An over view of Robotics - present and future applications - classification by coordinate system and control system.

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UNIT-2

COMPONENTS OF THE INDUSTRIAL ROBOTICS: Function line diagram representation of robot arms, common types of arms. Components, Architecture, number of degrees of freedom - Requirements and challenges of end effectors, determination of the end effectors, comparison of Electric, Hydraulic and Pneumatic types of locomotion devices.

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UNIT-3

MOTION ANALYSIS:Homogeneous transformations as applicable to rotation and translation - problems.

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UNIT-4

MANIPULATOR KINEMATICS: Specifications of matrices, D-H notation joint coordinates and world coordinates Forward and inverse kinematics - problems.

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UNIT-5

Differential transformation and manipulators, Jacobians – problems Dynamics: Lagrange - Euler and Newton - Euler formulations – Problems.

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UNIT-6

General considerations in path description and generation. Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint Integrated motion -straight line motion - Robot programming, languages and software packages~descripti0n of paths with a robot programming language..

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UNIT-7

ROBOT ACTUATORS AND FEEDBACK COMPONENTS: Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors. Feedback components: position sensors - potentiometers, resolvers encoders - Velocity sensors.

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UNIT-8

ROBOT APPLICATIONS IN MANUFACTURING: Material Transfer - Material handling, loading and unloading Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.


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