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Robotics and Multibody Systems
Code
ME-RMS1
Version
2.0
Offered by
Mechanical Engineering
ECTS
5
Prerequisites
Calculus, dynamics, kinematics.
Main purpose
Analysis of commercial robots, design and analysis of “home-made” robots and mechanisms, simple programming of a robot, and basic knowledge of the application of machine vision in robotics.
Knowledge
The student can explain the structure of robots, mechanisms, multi body systems and manipulators. In addi-tion, the student can express kinematics, kinetics, and dynamics for robot systems.
Robots:
• Spatial descriptions of robots, mechanisms and manipulators
• Coordinate transformation and transform arithmetic
• Forward manipulator kinematics (position, velocity and accelerations) and inverse manipulator kine-matics
• Manipulator kinetics (forces and torques)
• Planning robotic motion
• Calculation of motion, forces, torques for robots with MathCAD and simulation with MatLab.
• Programming of robots
Multi Body:
• Mechanism definition and structure.
• Frames, body orientation, generalized coordinates, geometric constraints and driving constraints.
• Kinematical analysis (position, velocity and acceleration)
• Kinetic analysis, mass and inertia, applied forces
• Forward and inverse dynamics
• Multi Body programs (for example in MatLab)
Machine vision
• Structure of machine vision system
• Applications of machine vision
• Image enhancement, segmentation and feature extraction
• Image recognition
Skills
The student can design a manipulator (for example a special designed robot for industry and laboratories) and analyze the dynamics (positions, velocities, accelerations, forces and torques in time domain). The student can write simple programs for a robot.
The student can analyze a closed mechanism (multi body system) with respect to motion, forces and torques. In addition, the student can apply Multi Body analysis software.
The student can decide, if and how a vision system must be applied.
Competences
The student can analyze a commercial robot and design and construct a “home-made” robot or mechanism on sketch level.
Topics
Teaching methods and study activities
The total workload for the student is 136 hours.
The didactic method is classroom teaching, problem solving and homework.
Study activity model
Category 1, Initiated by the lecturer with the participation of lecturer and students: 42 hours – 30%
Category 2: Initiated by lecturer with participation of students: 42 hours – 30 %
Category 3: Initiated by students with participation of students: 42 hours – 30 %
Category 4: Initiated by students with the participation of lecturer and students: 10 hours – 10%
Resources
John J. Craig, Introduction to Robotics: Mechanics and Control, Pearson, latest edition
Evaluation
Examination
Requirements for attending examination
None
Type of examination
Individual oral examination - 20 minutes - without preparation.
Examinations account for 100 % of final grade
Censor: Internal
Allowed tools
None
Re-examination
As the ordinary examination
Grading criteria
Additional information
Responsible
Per Ulrik Hansen
Valid from
01-02-2023 00:00:00
Course type
6. semester
Compulsory for the specialization Intelligent Mechanics
Keywords
Specialisation/Area; Intelligent Mechanics and Systems