16EE504 SERVO AND ROBOT DRIVES 3/0/0/3

Nature of Course : G (Theory)

Course Objectives:
1 To understand the basic laws and concepts of robots.
2 To impart the knowledge of servo motors drives and power transmission.
3 To understand the concepts sensors and vision systems.
4 To understand the concepts of robots in various industries for automation.
Course Outcomes:
Upon completion of the course, students shall have ability to
C504.1 Introducing the basic Robotic systems [R]
C504.2 Understand the concepts of servo mechanisms and control of electric
[U]
drives
C504.3 Apply the sensor systems to the robotic system [U]
C504.4 Applications of Robots in Manufacturing and Processing Industries [A]
Course Contents:
INTRODUCTION TO FUNDAMENTAL CONCEPTS OF ROBOTICS

History, Present status and future trends in Robotics and automation - Laws of Robotics-
Robot definitions - Robotics systems and robot anatomy - Structure of a Robot,
Classification of Robots: Cartesian, Cylindrical, Spherical, Articulated, SCARA -Specification
of Robots - Degrees of Freedom of Serial and Parallel Manipulators- resolution, repeatability
and accuracy of a manipulator. SERVO MOTORS DRIVES AND POWER TRANSMISSION
SYSTEMS Types – Constructional features - Principle of operation – Feedback system -
Sizing of servomotors - Robot drive mechanisms, hydraulic – electric – servomotor- stepper
motor - pneumatic drives, Mechanical transmission method - Gear transmission, Belt drives,
cables, Roller chains, Link - Rod systems - Rotary-to-Rotary motion conversion, Rotary-to-
Linear motion conversion, Rack and Pinion drives, Lead screws, Ball Bearing screws, End
effectors. CONTROL OF ELECTRICAL DRIVES: Introduction – Parts of Electrical Drives-
Fundamental Torque Equations – Speed Torque Conventions and Multi-quadrant Operation
– Nature & Classification of Load Torques - Modes of Operation –Closed-Loop Control of
Drives. SENSORS and VISION SYSTEMS Principle of operation, types and selection of
Position& velocity sensors, Potentiometers, Encoders, Resolvers, LVDT, Tacho-generators,
Internal and External State Sensors, Proximity sensors. Limit switches – Tactile sensors -
Touch sensors - Force and torque sensors, Robot End Effectors. Vision Systems. VISION
SYSTEMS FOR ROBOTICS: Robot vision systems, Image capture- solid state cameras –
Image representation - Grey scale and colour images, image sampling and quantization -
Image processing and analysis– Segmentation - Feature extraction - Object Recognition-
Image capturing and communication - JPEG, MPEGs and H.26x standards, packet video
FACTORY AUTOMATION Flexible Manufacturing Systems concept - Automatic
feeding lines, transfer lines, automatic inspection - Computer Integrated Manufacture - CNC,
intelligent automation. HMI Systems, DCS and SCADA, Wireless controls.

Total Hours: 45
Text Books:
1 Deh S R., "Robotics Technology and Flexible Automation", Second Edition Tata
McGraw Hill Publishing, Company Ltd., 2010.
2 Mikell P Grooveret. al., "Industrial Robots - Technology, Programming and
Applications", McGraw Hill, New York, 2012.
3 Saeed B Niku,” Introduction to Robotics Analysis,Systems,Applications”‟PHI Pvt
 Ltd, New Delhi, Second Edition, Reprint 2016.
4 Peter Corke,” Robotics, Vision and Control: Fundamental Algorithms In MATLAB”
first Edition 2011
Reference Books:
1 S K Saha, ―Introduction to Robotics‖, Tata Mcgraw Hill, 2010.
2 Mittal R K, Nagrath I J, ―Robotics and Control‖, Tata McGraw Hill, 2010
3 Richard D Klafter, Thomas A Chmielewski, Michael Negin, "Robotics Engineering
– An Integrated Approach", Eastern Economy, Prentice Hall of India P Ltd., 2010
Online Resources:
1 https://ocw.mit.edu/courses/mechanical-engineering/2-12-introduction-to-
robotics-fall-2504/
2 https://www.edx.org/course/robotics-columbiax-csmm-103x
3 https://www.futurelearn.com/courses/begin-robotics

Assessment Methods & Levels (based on Bloom’sTaxonomy)

Formative assessment based on Capstone Model (Max. Marks:20)

Course
Bloom’s Level Assessment Component Marks
Outcome

C504.1 Remember Quiz 5

C504.2 Understand Technical presentation 5

C504.3 Understand Group discussion 5

C504.4 Analyse Case Study 5

Summative assessment based on Continuous and End Semester Examination

Continuous Assessment End Semester

Bloom’s Level CIA-I CIA-II Term End Examination Examination

[6 marks] [6 marks] [8 marks] [60 marks]

Remember 40 20 20 20
Understand 60 60 40 40
Apply - 20 20 20
Analyse - - 20 20
Evaluate - - - -
Create - - - -