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MECH 456 Introduction To Robotics Units: 3.50
This course will cover the following topics in the field of robotics: historical development; robot components (sensors, actuators, and end effectors, and their selection criteria); basic categories of robots (serial and parallel manipulators, mobile robots); mobility/constraint analysis; workspace analysis; rigid body kinematics (homogeneous transformation, angle and axis of rotation, Euler angles); manipulator kinematics and motion trajectories (displacement and velocity analyses, differential relations, Jacobian matrix); non-redundant and redundant sensing/actuation of manipulators; manipulator statics (force and stiffness); singularities; and manipulator dynamics.
(Lec: 3, Lab: 0, Tut: 0.5)
(Lec: 3, Lab: 0, Tut: 0.5)
Requirements: Prerequisites: MECH 350 or MTHE 332 (MATH 332) or MTHE 335 or ELEC 443 or permission of the instructor
Corequisites:
Exclusions: ELEC 448, MREN 348
Offering Term: W
CEAB Units:
Mathematics 0
Natural Sciences 0
Complementary Studies 0
Engineering Science 21
Engineering Design 21
Offering Faculty: Smith Engineering
Course Learning Outcomes:
- Discuss the robot selection requirements and robot components and use the pertinent terminology in modelling, analyzing and designing robot manipulators.
- Analyze motion capabilities of mechanisms and robot manipulators.
- Assess layouts of serial manipulators for the required motions.
- Investigate the challenges in designing robot manipulators for a specific environment by defining the problem before proposing solutions.
- Develop the models of serial manipulators (planar and spatial) and analyze their forward and inverse kinematics.
- Apply the generalized inverses of linear systems of equations to overdetermined and under-determined problems, and analyze redundant and over-constrained manipulators.
- Formulate relations between the actuators’ forces/torques and manipulator payload (static and dynamic cases) and deflection (accuracy) of operation point.
- Design/redesign or employ redundancy to eliminate or avoid singularity.
- Use MATLAB to simulate and analyze motion and force/compliance performance of a manipulator for the required task.
- Articulate the design, modelling, analysis and simulation of robot manipulators through the use of the four phases of systems’ life cycle.
- Engage with group activities by sharing ideas, workload, and providing effective feedback.