Università degli studi di Modena e Reggio Emilia

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Teachers

Marco TRONCOSSI
Vincenzo PARENTI CASTELLI

Overview

Students learn the basic elements for modelling the kinematics, the statics and the dynamics of spatial articulated systems with both open (serial) and closed (parallel) architectures, which the current industrial robots is based on.
In addition, the students learn basic knowledge of criteria of use, motion planning, as well as economic and organizational aspects that are needed to integrate robots into production systems.

Admission requirements

Mechanics of Machines (BSc. Course)

Course contents

The course is organized in the following main sections:
1) ORIGINS AND HISTORY OF ROBOTS.
2) STRUCTURE AND GENERAL CHARACTERISTIC OF ROBOTS.
3) COORDINATE TRANSFORMATION MATRICES.
4) KINEMATICS OF MANIPULATORS.
5) STATICS OF MANIPULATORS.
6) DYNAMICS OF MANIPULATORS.
7) PARALLEL MANIPULATORS.
8) TRAJECTORY GENERATION.
9) MANIPULATOR CONTROL.
10) ORGANIZATIONAL AND ECONOMIC ASPECTS (hints).

Exercises:
1) Inverse position analysis of PUMA
2) Position analysis of the mechanism of type 6-6.
3) Elements of Dynamics
4) Dynamic analysis of a 2R spatial manipulator
5) Trajectory generation

Teaching methods

The course includes: 1) Theoretical lectures conducted on the blackboard or with the aid of multimedia systems. 2) A complete cycle of exercises that combines and integrates theoretical lessons by developing applications using graphical and analytical tools.

Assessment methods

The assessment of student learning is carried out at the end of the course by a written test on the main topics of the course. The written exam is based on theory questions and/or exercises (typically 4 or 5 questions). The final vote results from the arithmetic mean of the votes obtained in the single tests. The examination is passed if the score of at least two of the tests is at least sufficient.

Learning outcomes

Knowledge and understanding: through in-class lectures, the student first familiarizes with robotic systems and their components and, second, learns the methods and techniques for the design of their motion and for their integration into production plants.

Applying knowledge and understanding: through exercises, the student learns how to apply the knowledge gained.

Making judgments: lessons and exercises are delivered to develop the student's ability to integrate knowledge, manage complexity and make judgments on the basis of limited or incomplete information.

Learning skills: the activities described allow the student to develop the skills necessary to autonomously deepen technical topics, in order to effectively face professional challenges or to undertake further studies.
Applying knowledge and understanding: through exercises, the student learns how to apply the knowledge gained.

Making judgments: lessons and exercises are delivered to develop the student's ability to integrate knowledge, manage complexity and make judgments on the basis of limited or incomplete information.

Learning skills: the activities described allow the student to develop the skills necessary to autonomously deepen technical topics, in order to effectively face professional challenges or to undertake further studies.

Readings

Testo di riferimento [Reference book]
• Siciliano B., Sciavicco L., Villani L., Oriolo G., “Robotics: Modelling, Planning and Control”, Springer, 2009.

Testo consigliato [Suggested book]
• Siciliano & Khatib eds., Handbook of Robotics, Springer, New York, 2008

Testi di approfondimento [In-depth readings]
• Tsai L.W., “Robot Analysis, The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.
• Merlet J.P., Parallel robots. Kluwer, Dordrecht, 2000.
• Nof S.Y. “Handbook of Industrial Robotics”, 2nd ed., John Wiley & Sons, 1999.
• Engelberger J.F., “Robotics in Practice: Management and applications of industrial robots”, Avebury Publishing Company, 1980.
• Craig J., Introduction to Robotics, Mechanics and Control, 1989, Addison-Wesley Publishing Company.
• Erdman and Sandor, “Analysis and Synthesis of Mechanisms”, voll. 1 and 2, 1990, Prentice-Hall.
• Suh C.H. and Radcliffe C. W., “Kinematics and Mechanisms Design”, John Wiley & Sons, 1978.
• Sandler Ben-Zion, “Robotics: Designing the Mechanisms for Automated Machinery”, Academic Press, 1999.
• Rivin, E. I. “Mechanical design of Robots”, McGraw-Hill, 1988.