73124 - Mechanics of Robots and Automatic Machinery (2nd cycle)

Learning outcomes

Students acquire the necessary tools to perform a functional analysis -aimed at designing purposes- of automatic machines and robots. In particular, students gain skills both from the theoretical viewpoint (kinematic, static and dynamic analyses of complex mechanisms) and from the practical one (kinetostatic simulations of planarand spatialmechanisms by menas ofmultibodysoftware).

Course contents

1. INTRODUCTION TO AUTOMATION AND INDUSTRIAL ROBOTICS. (5 hours)

2. COORDINATE TRANSFORMATION MATRICES. (8 hours)

3. ROBOT KINEMATICS. (15 hours)

4. ROBOT STATICS. (1 hour)

5. ROBOT DYNAMICS. (13 hours)

6. TRAJECTORY PLANNING. (1 hour)

7. SIMULATIONS WITH MULTIBODY SOFTWARE. (6 hours)

 

PROBLEMS AND APPLICATIONS (9 hours)

Readings/Bibliography

Reference book

• Legnani G., Fassi I., Robotica industriale: modellazione, pianificazione, controllo, programmazione, componentistica, normativa e sicurezza. CittàStudi Edizioni, Torino, 2019
  

 

Suggested books

• Siciliano B., Sciavicco L., Villani L., Oriolo G. Robotica:modellistica, pianificazione e controllo – 3° ed., McGraw-Hill, Milano, 2008 [oppure: Sciavicco L. Siciliano B., Robotica industriale: modellistica e controllo di manipolatori – 2° ed., McGraw-Hill, Milano, 2000]
  
• Siciliano & Khatib eds., Handbook of Robotics, Springer, New York, 2008

 

In-depth readings

• Cheli F., Pennestrì E., Cinematica e Dinamica dei Sistemi Multibody, Casa Editrice Ambrosiana, Milano, 2006
• Angeles J., Fundamental of robotic mechanical systems , Springer-Verlag, New York, seconda edizione 2003
• Tsai L.W., Robot analysis: the mechanics of serial and parallel manipulators, John Wiley & Sons, New York, 1999
• Craig J.J., Introduction to Robotics: Mechanics and Control , Addison Wesley, Boston (MA, USA), 1989
• Paul R., Robot Manipulator: Mathematics, Programming and Control , MIT Press, Cambridge (MA, USA), 1981

Teaching methods

Lessons taught in lecture room and in informatic lab. Connection in videostreaming is available for students attending the lessons remotely.

Assessment methods

Written examination: 2 questions about theoretical aspects or exercize. Discussion of the multibody model developed by each student with the software ADAMS.

Optional oral examination for a score variation of 2-3 points at most.

Teaching tools

Slides are used as a partial support for the lesson presetations. The corresponding Pdf files and the course lecture notes are available at https://iol.unibo.it

Links to further information

http://www.unibo.it/docenti/marco.troncossi

Office hours

See the website of Marco Troncossi