Unit 1 Unit – I Introduction to robotics

9 lecture hours

• 1.1: Brief History of robotics. 1.1.1: Laws of robotics. 1.2: Definition of a ROBOT. 1.3: Types of robots: 1.3.1: Based on Application 1.3.1.1: Industrial robots 1.3.1.2: Service robots. 1.3.2: Based on Environment. 1.3.2.1: Fixed robots. 1.3.2.2: Mobile robots. 1.4: Robot economics: 1.4.1: Price of robot. 1.4.2: Special tools. 1.4.3: Installation cost. 1.4.4: Maintenance. 1.4.5: Operating power. 1.4.6: Finance. 1.4.7: Depreciation. 1.4.8: Enhanced Productivity. 1.4.9: Improved Quality. 1.5: Safety practices with robots. 1.6: Robot Subsystems: 1.6.1: Motion Subsystem: 1.6.1.1: Manipulators. 1.6.1.2: End-Effectors. 1.6.1.3: Actuators. 1.6.1.4: Transmission. 1.6.2: Recognition Subsystem: 1.6.2.1: Sensors. 1.6.2.2: Analog to digital converter. 1.6.3: Control Subsystem. 1.6.3.1: Digital Controller. 1.6.3.2: Digital to analog Converter. 1.6.3.3: Amplifiers
• Program Name: Engineering Level: Diploma Branch: Automation & Robotics Course / Subject Code: DI03041031 Course / Subject Name: Basics of Robotics 1.7: Classification of robots based on coordinate systems
• actuators, and control method: 1.7.1: Coordinate system: 1.7.1.1: Cartesian. 1.7.1.2: Cylindrical. 1.7.1.3: Spherical. 1.7.1.4: Articulated. 1.7.2: Actuators systems. 1.7.3: Control Methods: 1.7.3.1: Servo/Non-Servo Control. 1.7.3.2: Motion Control

Unit 2 Unit – II Actuators and Grippers 2.1

10 lecture hours

• Introduction to robotic actuators 2.1.1: Block Diagram of an actuator system 2.1.2: Subsystems of actuator system: 2.1.2.1: Power supply
• 2.1.2.2: Power amplifier
• 2.1.2.3: Servomotor, and 2.1.2.4: Transmission system. 2.2: Classification of actuators: 2.2.1: Pneumatic actuators
• 2.2.2: Hydraulic actuators
• 2.2.3: Electric actuators: 2.2.3.1: DC motor. 2.2.3.2: AC motor. 2.2.3.3: Induction motor. 2.2.3.4: Stepper motors. 2.2.3.5: Linear actuators. 2.3: Factors affecting selection of actuators. 2.4: Introduction to Grippers. 2.5: Classification of grippers: 2.5.1: Mechanical grippers. 2.5.2: Magnetic grippers. 2.5.3: Vacuum grippers. 2.5.4: Adhesive grippers. 2.5.5: Tools as grippers. 2.6: Factors affecting design and Selection of grippers

Unit 3 Unit – III Introduction to Kinematics

• 3.1: What is kinematics? 9 20% Program Name: Engineering Level: Diploma Branch: Automation & Robotics Course / Subject Code: DI03041031 Course / Subject Name: Basics of Robotics 3.2: Types of kinematic links: 3.2.1: Rigid link. 3.2.2: Flexible link. 3.2.3: Floating link. 3.3: Kinematic pair/constrains. 3.3.1: Types of constrains 3.3.2: Classification of kinematic pairs. 3.4: Common types of robotic joints 3.5: Kinematic chain: 3.5.1: Closed chain mechanism. 3.5.2: Open chain mechanism. 3.6: Degree of freedom (DOF) 3.7: Position and orientation of rigid body in space. 3.7.1: Configuration space 3.7.2: Coordinate systems 3.7.2.1: Cartesian coordinate system 3.7.2.2: Cylindrical coordinate system 3.7.2.3: Spherical Coordinate system 3.8: Representation of points and vectors in coordinate systems

Unit 4 Unit – IV Control Hardware and Robot Programming

9 lecture hours

• 4.1: Control Considerations 4.1.1: Control modules 4.1.2: Modules for advance robots 4.2: Hardware Architecture 4.2.1: BUS 4.2.2: System board 4.2.3: Kinematics board 4.2.4: Servo board 4.2.5: force board & vision board 4.3: Hardware for Joint Controllers 4.4: Computational Speed: 4.4.1: Using Integer Arithmetic 4.4.2: Computing Trigonometric Functions 4.4.3: Matrix Operations 4.4.4: Hardware Considerations 4.5: Robot Languages 4.5.1: Requirement for robot language 4.5.2: Structure of robot language 4.5.3: Different robot languages Program Name: Engineering Level: Diploma Branch: Automation & Robotics Course / Subject Code: DI03041031 Course / Subject Name: Basics of Robotics 4.6: Robot Programming 4.6.1: Online Programming 4.6.2: Offline programming 4.6.3: Robot oriented programming 4.6.4: Task level programming

Unit 5 Unit - V Robotics Industry and Robotics in Industry

8 lecture hours

• 5.1: Introduction to robotic industry. 5.2: Industrial Applications of robots: 5.2.1: Material Handling 5.2.2: Processing 5.2.2.1: Welding (Spot
• Arc) 5.2.2.2: Spray painting 5.2.2.3: Machining (Drilling
• Deburring) 5.2.2.4: Cutting. 5.1.3: Assembling. 5.3: Application of robotics in space technology 5.4: Defense and military applications of robots. 5.5: Medical and health service applications