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.<br />Practical topics related to the design of robotic devices will be discussed as well.
Prerequisites
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Course unit content
History of robotics and automation<br />Applications of robotics in research and in industries<br />Main features of robots and their classification<br />Cinematic analysis of multibody systems, either in 2D and 3D<br />Inverse and Direct Kinematics, Jacobian, working volume, trajectories<br />Dynamics of multibody systems<br />Issues about dynamics in industrial robots<br />Numerical methods for the analysis of complex mechanisms<br />Programming and operative modes of industrial robots<br />Drives and transmissions for industrial robots<br />Grippers, safety devices, sensors and accessories<br />Recent developments: parallel kinematics, artificial vision, off-line simulation
Full programme
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Bibliography
G. LEGNANI: "Robotica Industriale", Casa Ed. Ambrosiana, ISBN 88-408-1262-8, Milano.
Teaching methods
Oral discussion about the design project and about topics covered during the lessons.
Assessment methods and criteria
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Other information
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