354-0503/04 – Robots and Manipulators (RaM)
| Gurantor department | Department of Robotics | Credits | 4 |
| Subject guarantor | doc. Ing. Milan Mihola, Ph.D. | Subject version guarantor | doc. Ing. Milan Mihola, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 2 | Semester | winter |
| | Study language | English |
| Year of introduction | 2008/2009 | Year of cancellation | |
| Intended for the faculties | FS, USP | Intended for study types | Follow-up Master |
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/
Additional study materials
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
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction