ROBOT MECHANICS
cod. 06019

Academic year 2008/09
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
45 hours
of face-to-face activities
5 credits
hub:
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.<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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