ROBOTICS AND MECHANICAL DRIVES
cod. 1003956

Academic year 2015/16
2° year of course - Second semester
Professor
Academic discipline
Meccanica applicata alle macchine (ING-IND/13)
Field
A scelta dello studente
Type of training activity
Student's choice
42 hours
of face-to-face activities
6 credits
hub: PARMA
course unit
in - - -

Learning objectives

This course teaches the basic knowledge about kinematics and dynamics of industrial robots. For this purpose, techniques based on multibody formulations will be adopted. Such methods allow a systematic approach to the analysis of threedimensional mechanisms, hence providing a valuable system to the computer-aided numerical simulation of industrial robots.
Practical topics related to the design of robotic devices and control systems will be discussed as well.

Prerequisites

None

Course unit content

Applications of robotics in research and in industries.
Main features of robots and their classification.
Dynamics and kinematics of industrial robots.
Drives and transmissions for industrial robots.
Grippers, safety devices, sensors and accessories.
Mobile robots;
Recent developments: parallel kinematics, artificial vision, off-line simulation.
Embedded and real-time systems for the digital control of flexible automation.

Full programme

History of robotics and automation
Applications of robotics in research and in industries
Main features of robots and their classification
Cinematic analysis of multibody systems, either in 2D and 3D
Inverse and Direct Kinematics, Jacobian, working volume, trajectories
Dynamics of multibody systems
Issues about dynamics in industrial robots
Numerical methods for the analysis of complex mechanisms
Programming and operative modes of industrial robots
Drives and transmissions for industrial robots
Grippers, safety devices, sensors and accessories
Mobile robots and navigation systems
Recent developments: parallel kinematics, artificial vision, off-line simulation.
Embedded and real-time systems for the digital control of flexible automation.
SCADA, HMI systems.

Bibliography

G. LEGNANI: "Robotica Industriale", Casa Ed. Ambrosiana, ISBN 88-408-1262-8, Milano.

Teaching methods

Lessons. Moreover, the students, organized in groups, will develop a small low-cost robot as an assignment.

Assessment methods and criteria

Oral discussion about the design project and about topics covered during the lessons

Other information

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