ROBOT MECHANICS
cod. 06019

Academic year 2007/08
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

Rational mechanics, Applied Mechanics, Computer Aided Design (suggested)

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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