354-0503/04 – Robots and Manipulators (RaM)

Gurantor departmentDepartment of RoboticsCredits4
Subject guarantordoc. Ing. Milan Mihola, Ph.D.Subject version guarantordoc. Ing. Milan Mihola, Ph.D.
Study levelundergraduate or graduateRequirementCompulsory
Year2Semesterwinter
Study languageEnglish
Year of introduction2008/2009Year of cancellation
Intended for the facultiesFS, USPIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
MIH03 doc. Ing. Milan Mihola, Ph.D.
ZEM0097 Ing. Zdeněk Zeman, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 2+2
Part-time Credit and Examination 8+4

Subject aims expressed by acquired skills and competences

The goal is the formation of professional graduate profile, which will work as a designer of mechatronic systems. In addition to the ability of analysis, evaluation, application of knowledge to design robots and other complex mechatronic systems.

Teaching methods

Lectures
Tutorials
Project work
Other activities

Summary

V předmětu posluchači rozvíjí poznatky robototechniky z hlediska konstrukce, teorie a výpočtů uzlů a prvků robotů.Předmět je zaměřen na oblasti: - mechatronické systémy, charakteristiky, pojmy a principy, - vývojové trendy, základní subsystémy RaM, jejich klasifikaci, - požadavky a metodiku navrhování RaM, - konstrukce a výpočty prvků a orgánů nosného subsystému, - navrhování a výpočty efektorů RaM - navrhování typových konstrukcí RaM - navrhování robotů pro nestrojírenská odvětví, servisních a personálních robotů

Compulsory literature:

RIVIN, E. I.: Mechanical design of robots.New York, McGraw-Hill Book Company, 1988. Angeles, J.: Fundamentals of Robotic, Mechanical systems, Second Edition, Springer, 2002, [ISBN 0-387 – 95368 - X] 513 p. Lung-Wen Tsai: Robot Analysis, John Wiley § Sons, 1999, [ISBN 0-471 – 32593 - 7] 497 str.

Recommended literature:

http://www.youtube.com/watch?v=dRA4sD_3xu0 http://modlabupenn.org/smores/

Way of continuous check of knowledge in the course of semester

Semester project.

E-learning

Other requirements

I don't have additional requirements on students.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Content of lectures and exercises 1. Introduction to the issue, current state, trends and tasks of robotics, classification, subsystems and their development. Action subsystem - overview of issues (basic knowledge gained in the bachelor's study). Motion units for robot manipulators. Robot mechanics. Engines, design, inspection. 2. Transmission systems in robotics. Design and calculations, design solutions and problems. Planetary, harmonic and cyclic gears. Pantographs. Applications in the action subsystem. 3. Design, solution and calculations of the orientation system. 4. Balancing and balancing subsystems. 5. Design of drives, conceptual solution of drives. 6. Design solutions and calculations of motion units and their elements. 7. Effectors - construction, trends, calculations. 8. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters. 9. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters. 10. Methodology and tools of preliminary design of RaM. 11. Modular robots - concept, force calculation, accuracy and stiffness estimates. 12. Serial and parallel concepts of robots, analysis, comparison, specific procedures. 13. Service robots - differences of design solutions, requirements and design procedures compared to industrial robots. 14. Manufactured types of industrial and service robots, serial, parallel, special - application and analysis of parameters, properties and issues. 15. Norms and standards in robotics, economic and implementation context. Market requirements. Issues of conformity assessment and product liability. Independent design of the control system according to the assignment - evaluation. List of exam questions 1. Mechanics of robots. 2. Design and inspection of engines, power determination. 3. Optimization of the drive gear ratio. 4. Conceptual solution of industrial robot drives, slim and hybrid concepts. 5. Gears used in robotics - planetary gears. 6. Harmonic and cycle gears. 7. Pantographs. 8. Moving screws. 9. Management and storage of movement units. 10. Orientation system, concept, design. 11. Robot positioning units - linear and rotary. 12. Balancing of positioning units. 13. Effectors 14. Preliminary design of the robot action subsystem. 15. Modular robots - concept, force calculation 16. Modular robots - accuracy estimates. 17. Modular robots - stiffness estimates 18. Design of elements of the action subsystem - methods and tools. 19. Assessment of the action subsystem in terms of critical parameters. Principles and measures for adjustment. 20. Parallel robots - design principles, properties, parameters. 21. Service robots - design methods. 22. Manufactured types of robots - overview, properties, specifics.

Conditions for subject completion

Conditions for completion are defined only for particular subject version and form of study

Occurrence in study plans

Academic yearProgrammeBranch/spec.Spec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2024/2025 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2023/2024 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2022/2023 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2021/2022 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2020/2021 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2019/2020 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 2 Compulsory study plan
2019/2020 (N0714A270004) Mechatronics CSM P English Ostrava 2 Compulsory study plan
2018/2019 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 2 Compulsory study plan
2017/2018 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 2 Compulsory study plan
2016/2017 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 2 Compulsory study plan
2015/2016 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 2 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction



2022/2023 Winter
2019/2020 Winter
2018/2019 Winter