Robot Mechanics - a.y. 2016/2017
Period (Year/Semester): II/I
Required/expected prior knowledge: Nothing
Lecturers: Vincenzo Niola
To provide the student with the fundamentals of direct and inverse kinematics and dynamics, of multilink systems in general, and of industrial robots in particular and for the planning of their motion. To provide, also, the knowledge of the main mechanical and electromechanical components, the basics for the mechanical design of a robot, and finally the fundamentals for the study of vision systems applied to robots.
Tables of contents:
Description and operating principles of a robot. Actuators, cams and other mechanical components for automation.
Planed articulated systems with 1 d.o.f. Articulated quadrilaterals: kinematic study, kinematic synthesis and static and dynamic balancing.
Articulated systems with n axes. Direct and inverse kinematic problem. Rotation matrices. Coordinates homogeneous. Transformation matrices. Link structure and joints parameters. Representation of Denavited-Hartemberg . Position of the end-effector. Velocity and acceleration. Laws of motion and trajectories. End-effector trajectory of a robot with n axes . Kinematic calibration. Statics of the arm . Dynamic equilibrium equations of a multi-degree of freedom manipulator. Action matrices: forces acting on links, dynamic equilibrium of segments. Overview on the dynamics of non-rigid manipulators. Planning of laws of motion and trajectories of robot. Laboratory experiences to visualize the trajectories.
Basic principles for the mechanical design of a serial robot. Integration between vision systems and manipulators. Laboratory experiences.
Lessons and laboratory exercises.
Textbooks and learning aids:
C. Rossi - Lezioni di Meccanica dei Robot. - Edizioni ESA, ISBN9788895430188
Supplements provided by the professor .
Assessment will be oral.