73124 - Mechanics of Robots and Automatic Machinery (2nd cycle)

Learning outcomes

Students acquire the necessary tools to perform a functional analysis -aimed at designing purposes- of automatic machines and robots. In particular, students gain skills both from the theoretical viewpoint (kinematic, static and dynamic analyses of complex mechanisms) and from the practical one (kinetostatic simulations of planar and spatial mechanisms by menas of multibody software).

Course contents

1. INTRODUCTION TO AUTOMATION AND INDUSTRIAL ROBOTICS.
2. COORDINATE TRANSFORMATION MATRICES.
3. ROBOT KINEMATICS.
4. ROBOT STATICS.
5. ROBOT DYNAMICS.
6. SIMULATIONS WITH MULTIBODY SOFTWARE

Readings/Bibliography

·         Siciliano B., Sciavicco L., Villani L., Oriolo G. Robotica:  modellistica, pianificazione e controllo – 3° ed., McGraw-Hill, Milano, 2008 [oppure: Sciavicco L. Siciliano B., Robotica industriale: modellistica e controllo di manipolatori – 2° ed., McGraw-Hill, Milano, 2000];

·         Cheli F., Pennestrì E., Cinematica e Dinamica dei Sistemi Multibody, Casa Editrice Ambrosiana, Milano, 2006;

·         Legnani G., Robotica industriale: cinematica e dinamica di robot seriali e paralleli; movimentazione controllo e programmazione; componenti meccanici, attuatori e sensori; prestazioni, normative e sicurezza , Casa Editrice Ambrosiana, Milano , 2003;

·         Siciliano & Khatib eds., Handbook of Robotics, Springer, New York, 2008;

·         Angeles J., Fundamental of robotic mechanical systems , Springer-Verlag, New York, seconda edizione 2003;

·         Tsai L.W., Robot analysis: the mechanics of serial and parallel manipulators, John Wiley & Sons, New York, 1999

·         Craig J.J., Introduction to Robotics: Mechanics and Control , Addison Wesley, Boston (MA, USA), 1989

·         Paul R., Robot Manipulator: Mathematics, Programming and Control , MIT Press, Cambridge (MA, USA), 1981.

Teaching methods

Lessons taught in lecture room and in informatic lab.

Assessment methods

Written/oral examination.

Teaching tools

Slides are used as a support for the lesson presetations. Pdf file of the presentation are available at the webpages:  http://diem1.ing.unibo.it/personale/troncossi/didattica_tronco.htm  
http://campus.unibo.it/

Links to further information

http://www.unibo.it/docenti/marco.troncossi

Office hours

See the website of Marco Troncossi