You are here:

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

Academic Year 2019/2020

                
                        Docente:
                        Marco Troncossi
                    
                        Credits:
                        6
                    
                        SSD:
                        ING-IND/13
                    
                        Language:
                        Italian
                    
                        Teaching Mode:
                        Traditional lectures
                        
                            Campus:
                            Forli
                        
                            Corso:
                            Second cycle degree programme (LM) in
                            Mechanical Engineering (cod. 8771)

                            Teaching resources on Virtuale

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

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]

Suggested books

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

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.

Assessment methods

Written examination: 2 questions about theoretical aspects or exercize. Discussion of the multibody model developed by each student with the software ADAMS.

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

Teaching tools

Slides are used as a partial support for the lesson presetations. The corresponding Pdf files and the course lecture notes are available at https://iol.unibo.it

Links to further information

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

Office hours

See the website of Marco Troncossi