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

Course Unit Page

SDGs

This teaching activity contributes to the achievement of the Sustainable Development Goals of the UN 2030 Agenda.

Quality education Industry, innovation and infrastructure

Academic Year 2021/2022

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 planarand spatialmechanisms by menas ofmultibodysoftware).

Course contents

1. INTRODUCTION TO AUTOMATION AND INDUSTRIAL ROBOTICS. (5 hours)

2. COORDINATE TRANSFORMATION MATRICES. (8 hours)

3. ROBOT KINEMATICS. (15 hours)

4. ROBOT STATICS. (1 hour)

5. ROBOT DYNAMICS. (13 hours)

6. TRAJECTORY PLANNING. (1 hour)

7. SIMULATIONS WITH MULTIBODY SOFTWARE. (6 hours)

 

PROBLEMS AND APPLICATIONS (9 hours)

Readings/Bibliography

Reference book

  • Legnani G., Fassi I., Robotica industriale: modellazione, pianificazione, controllo, programmazione, componentistica, normativa e sicurezza. CittàStudi Edizioni, Torino, 2019

 

Suggested books

  • 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]
  • Siciliano & Khatib eds., Handbook of Robotics, Springer, New York, 2008

 

In-depth readings

  • Cheli F., Pennestrì E., Cinematica e Dinamica dei Sistemi Multibody, Casa Editrice Ambrosiana, Milano, 2006
  • 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. Connection in videostreaming is available for students attending the lessons remotely.

In consideration of the type of activity and the teaching methods adopted, the attendance of this training activity requires the prior participation of all students in the training modules 1 and 2 on safety, in e-learning mode.

Assessment methods

1. Written examination: 2-3 questions about theoretical aspects or exercize. 
The score of the written test will be given by the average of the single scores obtained for each of the 2-3 answers.

2. Discussion of the multibody model developed by each student with the software ADAMS.
Depending on the ability proven to use the software, the evaluation of this test will adjust the score obtained in the written test up to a maximum of 1 point (positive or negative).

3. Optional oral examination for a score variation of 2-3 points at most.

Teaching tools

Slides are used as a support for the lesson presetations. Pdf files of the presentation (along with suggested readings, lesson notes and additional supplementary material) are available at https://virtuale.unibo.it

Links to further information

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

Office hours

See the website of Marco Troncossi