AN3403 IDENTIFICATION OF PROJECT WORK SYLLABUS | ANNA UNIVERSITY BE MECHANICAL & AUTOMATION ENGINEERING 7TH SEM SYLLABUS REGULATION 2008 2011 2012-2013 BELOW IS THE ANNA UNIVERSITY SEVENTH SEMESTER BE MECHANICAL AND AUTOMATION ENGINEERING DEPARTMENT SYLLABUS, TEXTBOOKS, REFERENCE BOOKS,EXAM PORTIONS,QUESTION BANK,CLASS NOTES, IMPORTANT 2 MARKS, 8 MARKS, 16 MARKS TOPICS. IT IS APPLICABLE FOR ALL STUDENTS ADMITTED IN THE YEAR 2011 2012-2013 (ANNA UNIVERSITY CHENNAI,TRICHY,MADURAI,TIRUNELVELI,COIMBATORE), 2008 REGULATION OF ANNA UNIVERSITY CHENNAI AND STUDENTS ADMITTED IN ANNA UNIVERSITY CHENNAI DURING 2009
AN3403 IDENTIFICATION OF PROJECT WORK L T P C
0 0 9 2
ME2028 ROBOTICS L T P C
3 0 0 3
UNIT I FUNDAMENTALS OF ROBOT 7
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load –
Robot Parts and Functions – Need for Robots – Different Applications
61
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C. Servo Motors,
Stepper Motor, A.C. Servo Motors – Salient Features, Applications and Comparison of Drives End
Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers,
Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External
Grippers; Selection and Design Considerations
UNIT III SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors – Position of
sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, Pneumatic Position Sensors),
Range Sensors (Triangulation Principle, Structured, Lighting Approach, Time of Flight Range
Finders, Laser Range Meters), Proximity Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and
Optical Proximity Sensors), Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors,
Compliance Sensors, Slip Sensors. Camera, Frame Grabber, Sensing and Digitizing Image Data –
Signal Conversion, Image Storage, Lighting Techniques. Image Processing and Analysis –
Data Reduction: Edge detection, Feature Extraction and Object Recognition - Algorithms.
Applications – Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and Reverse
Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2 Dimensional), Four Degrees
of Freedom (In 3 Dimensional) – Deviations and Problems. Teach Pendant Programming, Lead
through programming, Robot programming Languages – VAL Programming – Motion Commands,
Sensor Commands, End effecter commands, and Simple programs
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety Considerations for
Robot Operations; Economic Analysis of Robots – Pay back Method, EUAC Method, Rate of Return
Method.
TOTAL: 45 PERIODS
TEXT BOOK:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”,
McGraw-Hill, 2001
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw-Hill Book Co., 1987
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992
3. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995
AN3403 IDENTIFICATION OF PROJECT WORK L T P C
0 0 9 2
ME2028 ROBOTICS L T P C
3 0 0 3
UNIT I FUNDAMENTALS OF ROBOT 7
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load –
Robot Parts and Functions – Need for Robots – Different Applications
61
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C. Servo Motors,
Stepper Motor, A.C. Servo Motors – Salient Features, Applications and Comparison of Drives End
Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers,
Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External
Grippers; Selection and Design Considerations
UNIT III SENSORS AND MACHINE VISION 10
Requirements of a sensor, Principles and Applications of the following types of sensors – Position of
sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, Pneumatic Position Sensors),
Range Sensors (Triangulation Principle, Structured, Lighting Approach, Time of Flight Range
Finders, Laser Range Meters), Proximity Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and
Optical Proximity Sensors), Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors,
Compliance Sensors, Slip Sensors. Camera, Frame Grabber, Sensing and Digitizing Image Data –
Signal Conversion, Image Storage, Lighting Techniques. Image Processing and Analysis –
Data Reduction: Edge detection, Feature Extraction and Object Recognition - Algorithms.
Applications – Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 10
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and Reverse
Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2 Dimensional), Four Degrees
of Freedom (In 3 Dimensional) – Deviations and Problems. Teach Pendant Programming, Lead
through programming, Robot programming Languages – VAL Programming – Motion Commands,
Sensor Commands, End effecter commands, and Simple programs
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 8
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety Considerations for
Robot Operations; Economic Analysis of Robots – Pay back Method, EUAC Method, Rate of Return
Method.
TOTAL: 45 PERIODS
TEXT BOOK:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”,
McGraw-Hill, 2001
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw-Hill Book Co., 1987
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992
3. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995
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