ROBOT MECHANICS
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- Versione italiana
- Academic year
- 2022/2023
- Teacher
- RAFFAELE DI GREGORIO
- Credits
- 6
- Didactic period
- Secondo Semestre
- SSD
- ING-IND/13
Training objectives
- The course aims at providing the basic knowledge necessary to write in a systematic way the constraint equations (kinematic model) and the equations of motion (dynamic model) of a spatial mechanism (robots). The knowledge acquired in the course makes it possible to write general-purpose programs that simulate the kinematic and/or dynamic behavior of machines, to develop algorithms for motion control of automatic machines and/or manipulators and, eventually, to read the literature of the field.
Prerequisites
- Mathematics courses (both basic and higher-level courses), Fundamentals of Mechanical Engineering (or Rational Mechanics) and Mechanics of Automatic Machines (or Machine and mechanism theory and Mechanics of Machines).
Course programme
- STRUCTURES AND GENERAL FEATURES OF ROBOTS
- The robot as an example of spatial mechanism: General characteristics of industrial robots (Textbooks: Ch. 1 (I): all; (II))
ROBOT KINEMATICS A STATICS
- Classification of machines’ architectures: the concept of loop; serial, parallel, and hybrid mechanisms (Textbooks: notes taken in class)
- Spatial mechanisms: Identification of rigid-body’s pose; Rotation matrices; parameterization of the orientation; homogeneous coordinates of a point; transformation matrices; closure (loop) equations; Joint variables and joints’ space; operational workspace: dexterous and reachable workspaces; Direct (DPA) and inverse (IPA) position analyses; Denavit-Hartenberg convention; decoupling of the closure equations in manipulators with a spherical wrist; IPA’s multiple solutions and boundaries of the workspace; (Textbooks: Ch. 2 (I): everything; (II): PUMA; (III))
Velocity analysis: direct (DVA) and inverse (IVA) problems, geometric and analytic Jacobians; singularities of the IVA (serial singularities) and of the DVA (parallel singularities) (Textbooks: Ch. 3 (I): 3.1-3.2-3.3-3.4-3.6-3.8; (III): parallel manipulators and classification of singularities)
Acceleration analysis: direct and inverse problems, derivatives of the Jacobian matrix; cases of the serial and of the parallel manipulators (Textbooks: Ch. 7 (I): 7.5.1; (II); notes taken in class)
ROBOT DYNAMICS
- Elements of rigid-body dynamics: (Textbook: (II))
- Dynamic models (eqs. of motion) of multibody systems: Direct and inverse dynamic problems; Lagrangian formulation: calculation of the kinetic energy and of the contribution to the generalized forces due to the inertia forces, calculation of the potential energy of the gravitational forces and contribution to the generalized forces due to the gravitational field, calculation of the contribution to the generalized forces due to non-conservative forces; Newton-Euler formulation: dynamic model of the serial robot, recursive algorithm, dynamic model of a parallel robot (method of the closed-chain cuts); (Textbooks: Ch. 7 of (I): all)
ROBOT CONTROL
- Trajectory planning: Generation of the trajectory in the joint space and in the Cartesian space. Planning the trajectory by using the dynamic model. (Textbooks: (II); Ch. 4 and par. 7.7 of (I))
- Position control: (Text: (II))
- Force control: (Textbooks: (II); Ch. 9 of (I))
ROBOT COMPONENTS
- Actuators and power transmission components: Electric, pneumatic and hydraulic actuators. Reducers. Determination of the optimal velocity ratio of the speed reducer of an actuated joint. Building elements of kinematic pairs. Static balancing. (Textbook: (II))
(*) THE DETAILED PROGRAM CAN BE DOWNLOADED FROM THE SECTION “DISPENSE” OF THE COURSE WEBSITE. Didactic methods
- Theoretical and practical lectures. In short, over the theoretical lectures, exercises that require the implementation of the algorithms presented in class by using MATLAB and the drafting of short reports are assigned during the course.
Learning assessment procedures
- The examination aims at evaluating the systematic knowledge of the subjects presented during the course and the acquired skill in solving actual problems.
During the examination, the student is required to answer to a number of queries on the subjects listed in the course program. Also, he has the possibility to present his reports on the exercises assigned during the lectures; such presentation is not mandatory, but, if it is done, it can lead to an increase of the final grade from 0 to 4 points (a vote is assigned to the exercise book). Reference texts
- Reference Textbooks:
(I) B. Siciliano, L. Sciavicco, L. Villani, G. Orioli, “Robotica: modellistica, pianificazione e controllo”, Ed. McGraw-Hill, Milano, 2008, ISBN: 88-386-6322-2.
(II) V. Parenti-Castelli, Lecture notes available at the copy center (the necessary chapters of these lecture notes are included in the files point (III) refers to).
(III) Downloadable files of the sectio “Dispense” of the course website (http://www.unife.it/ing/lm.infoauto/meccanica-robot/)
For the exercises in MATLAB that are assigned during the course, the student should have the "Robotics Toolbox" developed by Professor Peter Corke which is freely downloadable, after registration, from his websitetogether with the manual (http://www.petercorke.com/Toolbox_software.html ) .
Further Readings
- J. Angeles, “Fundamental of robotic mechanical systems,” Ed. Springer-Verlag, New York, Inc.,2nd Ed. 2003, ISBN: 0-387-953687-X.
- L.-W. Tsai, “Robot analysis: the mechanics of serial and parallel manipulators,” Ed. John Wiley & Sons, Inc., New York, 1999, ISBN: 0-471-32593-7
- G. Legnani, “Robotica industriale: cinematica e dinamica di robot seriali e paralleli; movimentazione controllo e programmazione; componenti meccanici, attuatori e sensori; prestazioni, normative e sicurezza”, Casa Editrice Ambrosiana, Milano, 2003, ISBN: 88-408-1262-8.
- K.-S. Fu, R. C. Gonzalez, C. S. G. Lee, “Robotica”, Ed. McGraw-Hill, Milano, ISBN 88-386-0617-X.
- R. Da Forno, “Dal corpo rigido al robot con MATLAB”, Ed. McGraw-Hill, Milano, ISBN 88-386-3414-9
