PRIST UNIVERSITY

(Estd. u/s 3 of UGC Act, 1956)

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UNIT(I6 INTR24UCTI2N 2: R2+2T +ASICS ;
Robot Definition Robot Anatomy Co-ordinate Systems, Work Envelope, types and
classification Specifications Pitc, !a", Roll, #oint $otations, Speed of %otion,
Pay &oad Robot Parts and 'eir ()nctions $eed for Robots Different
Applications
UNIT(II6 R2+2T ACTUAT2RS AN4 EN4 E::ECT2RS 1*
Pne)matic Drives *ydra)lic Drives %ecanical Drives Electrical Drives D+C+
Servo %otors, Stepper %otor, A+C+ Servo %otors Salient (eat)res, Applications and
Comparison of all tese Drives
End Effectors ,rippers %ecanical ,rippers, Pne)matic and *ydra)lic ,rippers,
%a-netic ,rippers, .ac))m ,rippers/ '"o (in-ered 0nternal ,rippers and E1ternal
,rippers/
UNIT(III6 SENS2RS AN4 .AC9INE VISI2N SYSTE. 1*

Re2)irements of a sensor, Principles and Applications of te follo"in- types of sensors
Position of sensors - Pie3o Electric Sensor, &.D', 4ptical Encoders, Ran-e Sensors,
Pro1imity Sensors - nd)ctive, *all Effect, Capacitive, 5ltrasonic 'o)c Sensors, Sensin-
and Di-iti3in- 0ma-e Data Si-nal Conversion, 0ma-e Stora-e, &i-tin- 'ecni2)es+
0ma-e Processin- and Analysis Data Red)ction, Se-mentation, (eat)re E1traction,
4b6ect Reco-nition+
UNIT(IV6 R2+2T 3INE.ATICS AN4 R2+2T PR2GRA..ING 1*
(or"ard 7inematics, 0nverse 7inematics and Differences/ (or"ard 7inematics and
Reverse 7inematics of %anip)lators "it '"o, 'ree De-rees of (reedom 80n 9
Dimensional:,
'eac Pendant Pro-rammin-, &ead tro)- pro-rammin-, Robot pro-rammin-
&an-)a-es .A& Pro-rammin- %otion Commands, Sensor Commands, End effecter
commands, and Simple pro-rams
UNIT - V6 I.P<E.ENTATI2N AN4 R2+2T EC2N2.ICS 8
R,., A,./ 0mplementation of Robots in 0nd)stries .ario)s Steps/ Safety
Considerations for Robot 4perations/ Economic Analysis of Robots Pay back %etod,
Rate of Ret)rn %etod+
Tot! 9ou's 6 )5
TE=T +223S6
1. %+P+,roover, ;0nd)strial Robotics 'ecnolo-y, Pro-rammin- and
Applications<, %c,ra"-*ill, 9==>
RE:ERENCES
1. ()+7+S+ ,on3al3+R+C+, and &ee C+S+,+, ;Robotics Control, Sensin-, .ision and
0ntelli-ence<, %c,ra"-*ill ?ook Co+, >@AB
9+ !oram 7oren, ;Robotics for En-ineers<, %c,ra"-*ill ?ook Co+, >@@9
C+ #anakiraman+P+A+, ;Robotics and 0ma-e Processin-<, 'ata %c,ra"-*ill, >@@D
PRIST UNIVERSITY,V!!",T#$%&u'
R2+2TICS
UNIT(I
PART(A
>+ Define Robot+
9+ Define Robot Anatomy and list do"n te types+
C+ $ame te fo)r common co-ordinate systems+
E+ Define pitc, roll and ya"+
D+ Define reac and stroke+
F+ Define De-rees of freedom+
B+ Define Spatial Resol)tion+
A+ Define acc)racy and repeatability+
@+ Wat is "ork envelopeG
>=+ %ention any fo)r applications of robot+
PART(+
>>+ E1plain te robot confi-)ration systems "it neat sketces+
>9+ E1plain te Common Co-ordinate systems, Workspace and classifications of
robotics
>C+ E1plain te specifications of robots+
>E+ E1plain te "orkin- principle of a robot "it a neat sketc+
>D+ E1plain te follo"in- topics
i+ $eeds for robot+
ii+ Work envelope+
>F+ Define ;De-rees of freedom< and e1plain te follo"in- associated "it it H
i+ Arm and body motion+
ii+ Arm and body of polar co-ordinate robot+
iii+Robot "rist+

UNIT(II
PART(A
>+ Classify te Robot drives system+
9+ Define Act)ator+
C+ Wat are te basic elements involved in ydra)lic systemG
E+ Wat is servomotorG Also mention its types+
D+ Define Stepper motor+
F+ Wat is end-effectorG
B+ Wat is meant by -ripperG
A+ Wat are te types of -ripper mecanismG
@+ Wat are te types of mecanical -rippersG
>=+ Compare pne)matic "it ydra)lic drives+
PART(+
>>+ E1plain any t"o drive systems "it neat sketces+
>9+ E1plain te "orkin- principle of stepper and servo motor+
>C+ Compare te follo"in-,
i+DC Servomotor and AC servomotor
ii+Stepper motor and servomotor
>E+ &ist do"n te types of -rippers and e1plain in detail abo)t %ecanical -ripper+
>D+ E1plain te follo"in-H
i+ Pne)matic ,ripper
ii+.ario)s tools )sed in robotics+
>F+ E1plain te follo"in-H
i+ .ac))m -ripper
ii+%a-netic -ripper
iii+Adesive -ripper
UNIT(III
PART(A
>+ &ist do"n te Classification of Sensors+
9+ Wat is &.D'G
C+ Wat is kno"n as *all-Effect sensorG
E+ Define Compliance sensor
D+ Wat is %acine vision systemG
F+ Wat are te basic li-tin- devices )sed in macine visionG
B+ Wat is se-mentationG
A+ Wat is ran-e sensorG
@+ Write te need for sensin- systems+
>=+ &ist do"n te types of sensors+
PART(+
>>+ Disc)ss any t"o types of sensors in detail "it neat sketces+
>9+ E1plain te "orkin- principle of &.D' "it neat sketces+ Also mention its
advanta-es and disadvanta-es+
>C+ E1plain abo)t te Pro1imity sensors and mention teir classifications+
>E+ E1plain Position sensors and mention its types+
>D+ E1plain te caracteristics of sensors in detail+
>F+ Wat is a macine vision systemG E1plain te components of macine vision
systems in detail+
UNIT(IV
PART(A
>+ Define robot kinematics.
9+ Classify te types of robot kinematics+
C+ Write an e1pression for for"ard transformation of 9 De-ree of freedom+
E+ Write an e1pression for for"ard transformation of C De-ree of freedom
D+ Differentiate te for"ard and reverse kinematics+
F+ Wat is meant by teac pendantG
B+ Wat is lead tro)- pro-rammin-G
A+ Classify te robot pro-rammin- lan-)a-es+
@+ Write any tree commands )sed in Robot pro-rammin-+
>=+ Write is .A& pro-rammin-G
PART(+
>>+ Wit a neat sketc, e1plain abo)t te for"ard and reverse kinematics of t"o and
tree de-rees of freedom+
>9+ E1plain abo)t te robot kinematics in detail+
>C+ E1plain briefly abo)t te robot pro-rammin- lan-)a-es+
>E+ E1plain abo)t te lead tro)- pro-rammin- metod in detail+
>D+ E1plain te classification of vario)s commands )sed in Robotics+
>F+ E1plain te metods of robot pro-rammin- in detail+
UNIT(V
PART(A
>+ Wat is A,.G
9+ Write any five applications of A,.+
C+ Wat is R,.G
E+ Write any t"o applications of R,.+
D+ Wat is te difference bet"een A,. and R,.G
F+ Wat is meant by economic analysis of robotG
B+ Wat is meant by pay back periodG
A+ Define E5AC metod
@+ Define Rate of Ret)rn metod+
>=+ Wat are te safety considerations )sed in RoboticsG
PART(+
>>+ Disc)ss abo)t te A,. in detail+
>9+ Disc)ss abo)t te R,. in detail+
>C+ E1plain te follo"in-s
i:'ypes of A,.
ii:Components of A,.
iii:Applications of A,.
iv:Advanta-es of A,.
>E+E1plain abo)t te economic consideration of robotics in detail+
>D+E1plain abo)t te potential safety a3ards in detail+
>F+ E1plain te follo"in-
i:Pay back metod+
ii:Rate of ret)rn metod+