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Robotical and Mechatronical Systems

94740

Description

Course Program

Types of Robots and Industrial Applications
Serial Robots with Cartesian, Cylindrical, Spherical, Anthropomorphic and SCARA Structures
Parallel Robots (Stewart-Gough, Delta, 3-RPS).
Robots with Hybrid Serial-Parallel Structures.
Reference Systems and Denavit-Hartenberg Notation.
Coordinate Transformation Matrices.
Rotations and Translations.
Homogeneous Transformations.
Forward and Inverse Kinematics of Manipulators.
Kinematic Model of Instantaneous Motion.
Infinitesimal Rotations and Translations.
Jacobian and Singularities.
Workspace Analysis.
Dynamics of Manipulators.
Newton-Euler Equations.
Direct and Inverse Dynamic Problem.
Trajectory Generation.
Programming and Operating Modes of Industrial Robots.
Actuators and Motion Transmission.
Vacuum Grippers, Grippers and Articulated Hands.
Automated and Robotic Systems.
Integration of Technologies.
Flexible Automation.
Organization of an Automated System.
Motion-Phase Diagrams and Grafcet.
Wired and Programmable Electropneumatic Systems (PLC).
Sensors and Limit Switches.
Fluid-Based Servosystems for Position/Velocity and Pressure/Force Control.
Criteria for the Use of Industrial Robots.
Economic Evaluation and Integration of Robots in the Production Process.
Applications in Pick-and-Place, Assembly, Painting, Welding Operations.
Laboratory Exercises with Collaborative Robot and Electropneumatic Benches.

ECTS credits

Teaching Language

italiano

Exam Language

italiano

Support Materials Language

italiano

Basic Learning Outcomes

Managing Entity (faculty)

Department of Civil and Mechanical Engineering (UNICAS)