Module description
This module is to establish students’ knowledge and skills of the robot fundamental structure in the form of linkages and mechanisms and comprehend the fundamental theory of the mechanisms in their various forms. Based on this, the module extends the knowledge to robot kinematics particularly in serial robot manipulators in their forward and inverse kinematics analysis. This then establishes students’ skills in the design of a pick-and-place robot and in computing trajectories and workspace of a serial robot manipulator. The module relates the creation of Jacobian matrices to statics analysis to give the fundamental theoretical intuition of robot kinematics and statics and their workspace and the dynamics and control of a robot.
Assessment details
Written examination/s &coursework
Educational aims & objectives
Aims of the module may include: to model and analyse typical mechatronic devices and their implementation using digital computers, with particular emphasis on robotic systems. To develop kinematics and dynamic models of robots. To examine the electro - mechanical design aspects of mechatronic systems. To investigate intelligent methods for robotic navigation as well as trajectory and path planning.
Learning outcomes
By the end of the module a student should be able to
1. understand robot manipulator components as links, joints and kinematic pairs, with a basic knowledge in linkages, mechanisms, and their use for robot structures;
2. comprehend the Grashof four-bar principle and Grübler-Kutzbach Criterion and their use for various robotic applications and design a pick and place robot with linkage analysis.
3. comprehend kinematics of serial robot manipulators in their forward and inverse kinematics and compute both forward and inverse kinematics of a serial manipulator.
4. comprehend kinematics of parallel robot manipulators.
5. comprehend robot Jacobian in both theoretical and approximation ways and plot the trajectory and workspace.
6. comprehend robot statics and its relation to kinematics.
7. comprehend robot dynamics.
8. comprehend control.