2001 catalog data: Credit (3-2-4) Three lecture hours and one two-hour lab
Prerequisites:
MFGG-370 Engineering Materials, MATH 305 Numerical Methods and Matrices
The basic concepts of industrial robot theory and applications are presented. Topics include the physical robot components and peripherals, robot classifications and capabilities, robot safety, justification of investment, robot kinematics and work-holding, path planning, motion control, virtual robot, programming languages, end-effector design and work-cell design.
Textbook(s): M.
Groover, M.W. Weiss, R.N.Nagel, & N.G. Odrey, "Industrial Robotics:
Technology, Programming
and Applications", McGraw Hill, 1986.
( This book will be referenced 50% of the time. Detailed lecture notes and journal articles
will be distributed.)
References: 1. R.D. Klafter, T. A. Chmielewski and M. Negin,
"Robotic Engineering: An
Integrated Approach”,
Prentice Hall, 1989.
2. K.S. Fu, R.C. Gonzalez, and G.S. Lee,
“Robotics: Control, Sensing, Vision, and
Intelligence”, McGraw Hill, 1987.
Coordinator(s): Lucy King, Professor of
Manufacturing Engineering
Course learning
objectives:
A
student who successfully completes this course will be able to:
1.
Discern
the physical components and peripherals of a robot. (Program Outcome: E; MFGG PEOs: 1, 3, 7)
2.
Practice
robot safety in a properly designed work-cell.
(Program Outcomes: C, E; MFGG
PEOs: 1, 2, 3, 7)
3.
Decipher
the physical types, classifications and capabilities of a robot. (Program Outcomes: E, K; MFGG PEOs: 1, 2, 3, 6, 7)
4.
Justify
the use of a robot in diversely different applications (Program Outcome: A; MFGG PEOs: 1, 3, 7)
5.
Study
the robot mechanism (Program Outcome: A;
MFGG PEOs: 1, 3, 7)
6.
Derive
the robot kinematics as applied to robot capabilities, path planning, and
motion control. (Program Outcome: A;
MFGG PEOs: 1, 3, 7)
7.
Develop
a robot program with path planning and control through a virtual robot
system. (Program Outcomes: B, C, K; MFGG PEOs: 1, 2, 3, 6, 7)
8.
Implement
the virtual robot application to a real robotic cell. (Program Outcomes: C, E, M; MFGG PEOs: 1, 2, 3, 5, 7)
9.
Study
the effects of load and arm reach on the motion and accuracy of the robot. (Program Outcomes: A, B, E, M; MFGG PEOs: 1, 3, 5, 7)
10. Design efficient and
appropriate end-effectors. (Program
Outcomes: A, B, C, L; MFGG PEOs: 1, 2,
3, 7)
11. Design, plan and build a
simple product with robotic applications such as assembly. (Program Outcomes: C, E, F, I, K, L, N, P; MFGG PEOs: 1, 2, 3,
4, 6, 7)
12. Manage the proposal,
development and implementation of a robotics assembly application. (Program Outcomes: D, G; MFGG PEOs: 2, 3, 5, 7)
Prerequisites
by topic:
1. Basic
mechanical properties of materials
2. Linear
algebra
3.
Concepts in kinematics and introduction to dynamics
4.
Fundamentals of circuits
5.
Electronic feedback effects
6.
Technical writing and oral communication
Topics covered:
1.
Physical
components of a robot, such as arms, joints, wrists, end-effectors
2.
Physical
types, classifications, movement and capability of a robot
3.
Peripherals
of a robot associated with input/output devices
4.
Robot
safety
5.
Application
of robots in diverse environments
6.
Robotic
work-cell design
7.
Rationale
and financial justification of a robot
8.
Robotic
mechanisms such as motors, encoders, and tachometers
9.
Robotic
kinematics as applied to robot capabilities, path planning and motion control
10. Skills and techniques
for fixturing robotic operations and assemblies
11. Robot programming
through a virtual robot system
12. Implementation of the
virtual robot application to a real robotic cell
13. Effects of load and arm
reach on the motion and accuracy of the robot
14. Designing of appropriate
end-effectors
15. Designing, planning and
building of a simple product with robotic applications such as assembly
16. Project management
skills
Schedule: Three lecture sections of 60 minutes per
week and one laboratory session of 120
minutes
Computer usage: Computers will be used in virtual robotics and
in driving the real robot.
Laboratory projects: 1. Design of robot operating
sequence through programming on a virtual robotics
system
2. Implementing the virtual robotics program to
a real robot (PUMA)
3. Design of a safe working envelope using
safety devices
4. Advanced robot programming traversing complex
paths, palletizing and
selection of end effectors in a virtual
system)
5. Implementation of the program on a real robot
6. Object location with vision system on ADEPT
robot [optional]
7. Robot sensor control (with automated guided vehicles or conveyor
loop
8. Computer Control of robots using FASTech
software in UNIX platform ( SUN
SPARCstation)
9. Project development
Relationship to
professional component: Three hours of
engineering topics and one hour of engineering design
Prepared by: Lucy
King Date:
June 15, 2000