TIC-021 ROBOTICS AND MECHATRONICS
Robot Arm Kinematics: Introduction. The Direct Kinematics Problem. Rotation
Matrices, Composite Rotation Matrix. Rotation Matrix about an Arbitrary Axis,
Rotation Matrics with Euler Angles Representation, Geometric Interpretation
of Rotation Matrics, Homogeneous Coordinates and transformation Matrix,
Geometric Interpretation of Homogeneous Transformation Matrices
,Composite Homogeneous Transformation Matrix.
II&III Links , Joints and Their Parameters, The David-Hhartenberg Representation, 1/2
Kinamatic Equation for Manipulators, Other specifications of the Location of
the End-Effector, Classification of manipulators, The Inverse Kinematics
Problem, Inverse Transform Technique for Euler Angles Solution.
Planning of Manipulator Trajectories: Introduction, General considerations on
Trajectory planning, joint- Interpolated Trajectiries, Calculation of a 4-3-4 joint
Trajectory, Cubic Spline Trajectory (five Cubics).
Mechatronics : What is Mechatronics , Systems, Measurement systems, Control
systems, Microprocessor- based controllers, Response of systems, The
Actuators : Pneumatic and Hydraulic Actuation systems; Actuation systems,
Pneumatic and Hydraulic systems, Directional control valves, Pressure control
valves, Cylinders, Process Control Valves, Rotary Actuators.
Mechanical Actuation Systems: Mechanical systems, Types of motion,
Kinematic chains, Cams, Gear trains, Ratchet and pawl, Belt and chain
drives, Bearings, Mechanical aspects of motor selection.
Electrical Actuation Systems: Electrical systems, Mechanical switches, Solidstate
switches, Solenoids, D.C. Motors, A.C. Motors, Stepper Motors.
Programmable Logic Controllers : Introduction, Basic Structure, Input Output
Processing, Programming, Mnemonics, Timers, Internal Relays and Counters,
Shift Registers, Master and jump controls, Data handling, Analogue
input/output, Selection of a PLC.
Mechatronics Systems: Traditional and Mechatronics Designs, Possible
Mechatronics Design Solutions, Case Studies of Mechatronic Systems.
Robotics, Control, Sensing, Vision and Intelligence, K S FU,
R C GONZALEZ, C S G LEE, McGraw Hill, 1987.
Mechatronics, W BOLTON , Pearson Education Ltd,2003.
1 Introduction to Robotic Mechanics and Control, JOHN J. CRAIG,
Pearson Education Ltd. 2003
2 Introduction to Robotics, SYED V NIKU, PHI, Pearson, 2003
3 Robotics and Control, R K Mittal, I J Nagrath, TMH, 2003
4 Mechatronics, Principles Concepts and Applications – N.P. Mahalik
5 Introduction to Mechatronics and Measurement systems – David G.
Alciator and Michael B. Histand TMH 2005
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