Birla Institute of Technology & Science, Pilani

Work Integrated Learning Programmes Division

M.Tech. Design Engineering
Digital Learning Handout

Summary
Course Title Mechanisms and Robotics

Course No(s) DE ZG561 / ES ZG561/DM ZG561

Credit Units 5

1-1-2
(32 Hours of Class-room Instruction + 32 Hours of Case-
Credit Model
studies/Tutorials/Laboratories + 64 Hours of Student
Preparation)

Course Author Y VD Rao

Instructor-In-Charge GLYNN JOHN

Version No 2.0

Date 20-7-2019

Course Description
This course is intended to provide a comprehensive knowledge of the technology related to
robotics. The necessity of human like machines to replace human beings from the work-sites
have been long felt for a large variety of reasons. The field of robotics has emerged as one of
the important engineering areas of the future.
The course will develop overall background of the student in interdisciplinary robotic
technology with emphasis on mechanical aspects. Mechanisms which can be used in robots,
their characteristics, kinematic and dynamic analysis and design will be discussed in detail
along with the issues, applications and implementation principles of industrial robotics.

Course Objectives:

No Course Objectives
CO1 Understand the basics of robotics and its necessity in industrial world.

CO2 Learning the mathematical modelling and analysis of industrial manipulator using
computer programing
 CO3 Understand the role various sensors and actuators in robotics motion and its control
system. Thereby, understand the system integration with both mechanical and
electrical/electronic control systems

CO4 Understanding the process of programming of an industrial manipulator

Teaching Methodology
The pedagogy for this course consists of class-room instruction explaining the basics theory
and mathematical part of the modelling and analysis supported by the realistic case studies.
To practices and realize the application of the modelling, simulation and analysis MATLAB
baes coding will be extensively utilized. Some of the solid modelling software such as solid
works etc. will be also utilized for modelling and simulation. In addition, students will be also
encouraged and supervised to develop their own working models.

Text Books
T Robert J., Schilling, Fundamentals of Robotics: Analysis and Control, Prentice Hall, NJ, 2002

Reference Books & Other Resources

R1 Groover, M. P., et al., “Industrial Robotics”, MGHISE, 1986.

R2 Fu, K. S., et al., Robotic: Control, Sensing, Vision & Intelligence, MGHISE, 1987.

R3 Mittal R. K. & Nagrath I. J., “Robotics and Control”, TMH, 2003 (Reprint 2007 or later).

John Joseph Uicker, G. R. Pennock, Joseph Edward Shigley, Theory of Machines and
R4
Mechanisms, Oxford University Press, 2003

Experiential Learning Components:

1. Lab: Onramp, Virtual lab (Matlabhttps://drive.google.com/file/d/1qesTvXnSgr2ugX-

maL2y2koWQZYzmNjA/view?usp=sharing)

Modular Content Structure

M1. Fundamentals of Robot Technology

1.1 Introduction
1.1.1. Automation and Robotics
1.1.2. Robotics in Science Fiction
1.1.3. Progressive Advancement
 1.1.4. The Robotics trends and the future prospects
1.2. Robot Anatomy
1.2.1 Links, Joints and Joint Notation scheme
1.2.2 Degrees of Freedom (DOF)
1.2.3 Required DOF in a Manipulator
1.2.4 Arm Configuration
1.2.5 Wrist Configuration
1.2.6 The End-effector (EE)
1.2.7 Human arm characteristics
1.3 Design & Control issues
1.4 Precision of Movement
1.5 Manipulation & Control
1.6 Robotics sensors
1.7 Robot specification
1.8 Robot programming & work cell control
1.9 Bio-mimic robots

M2. Analysis & modelling of mechanisms

2.1 Mechanisms
2.2 Special Mechanism
2.3 Four bar planar and Special Mechanism
2.4 Mathematical models of simple mechanisms

M3. Manipulator Frame Analysis

3.1 Introduction to co-ordinate frames mapping
3.1.1 Mapping between Rotated frames
3.1.2 Mapping between Translated frames
3.1.3 Mapping between Rotated & Translated frames.
3.1.4 Description objects in space
3.1.5 Transformation of vectors - Rotation & Translation of vectors
3.1.6 Composite transformations.
3.1.7 Inverting a Homogeneous Transform
3.1.8 Fundamental Rotation Matrices – Principle axes Rotation fixed
3.1.9 Euler and Equivalent angle axis Representations

M4. Manipulator modelling

 4.1 The Kinematic Modelling of Manipulator
4.1.1 Direct kinematics model mechanical structure & Notations
Description of links & Joints
4.1.2 Denavit – Hertenberg Notation
4.1.3 Kinematic Relationship between links
4.1.4 Manipulator transformation matrix
4.1.5 Examples of direct Kinematics
4.1.6 The Inverse kinematics manipulator
4.1.7 Solvability of inverse kinematic model
4.1.8 Solution techniques
4.1.9 Closed form solutions
4.1.10 Examples of inverse kinematics
4.1.11 Singularities of manipulators
4.2 Differential Kinematics
4.2.1 Linear and angular velocity of a rigid body
4.2.2 Relationship between transformation matrix and angular velocity
4.2.3 Mapping velocity vectors along links
4.2.4 Manipulator Jacobian
4.2.5 Jacobian Inverse
4.2.6 Jacobian singularities
4.2.7 Static Analysis.
4.2.8 Examples
4.3 Dynamic modelling
4.3.1 Introduction
4.3.2 Lagrangian Mechanics
4.3.3 Lagrange–Euler (LE) formulation
4.3.4 The Lagrangian-Euler (LE) Dynamic model algorithm
4.3.5 Newton-Euler (NE) Formulation
4.3.6 Examples on dynamic modelling.
4.4 Trajectory planning
4.4.1 Introduction
4.4.2 Joint space technique
4.4.3 Coordinate space technique
4.4.4 Examples

M5. Control of Manipulators

 5.1 Control of movements of mechanical joints control sequence
5.2 Multi- joints manipulator control system
5.3 System performance
5.4 Control system with damping
5.5 Control strategy
5.6 Architecture of control systems

M6. Robotics sensors

6.1 The meaning of sensing
6.2 Sensors in Robotics kinds of sensor used in Robotics
6.3 Tactile sensors Force-Torque sensors
6.4 Introduction to machine vision
6.5 Industrial application of vision controlled Robotic systems
6.6 Image processing and Analysis
6.7 Architecture of Robotic vision systems
6.8 Description of other components of vision system

M7. Robot Application and Programming

7.1 The Interaction of EE with Environment – Assembly
7.2 Task Frame Compliances
7.2.1 Active/Passive Compliance
7.2.2 Methods providing Compliance
7.2.3 RCC device
7.3 Optimization position definitions
7.4 Interpolation language command
7.4.1 Data object command
7.4.2 Motion commands
7.4.3 Gripper command
7.4.4 Tool commands
7.4.5 Sensors command
7.4.6 Other commands
7.5 Writing programs for different tasks

Part B: Course Handout

Session Schedule / Plan of Self-Study
(Each Contact Session is of 2 Hours duration)

CASE-
MODULES /
NO SESSION TOPIC REF PROBLEMS
(Sub-Topics)
(for Discussion)
T, R1,
1. Introduction M1 1
R3
Analysis & modelling of R4
2. M2 12
mechanisms
3. Robot Frame Analysis M3: 3.1 T, R2 2
4. Manipulator modelling M4: 4.1.1-4.1.2 T, R2, R3 ---
5. Manipulator modelling M4: 4.1.3-4.1.5 T, R2, R3 3
6. Manipulator modelling M4: 4.1.6-4.1.11 T, R2, R3 4
7. Manipulator modelling M4: 4.2 T, R2, R3 5,6
8. Manipulator modelling M4: 4.3.1-4.3.4 T, R2, R3 ---
9. Manipulator modelling M4: 4.3.5-4.3.6 T, R2, R3 7
10. Manipulator modelling M4: 4.4 T, R2, R3 8,9
11. Control of Manipulators M5 T, R3 ---
12. Robotics sensors M6 T, R3 10
Robot Application and T, R1,
13. M7 R2, R3
11
Programming

CS: Contact Session (2Hrs); ISM: Instructor Supplied Material;

CASE-PROBLEM: Discussion on typical situational problems experienced by practising

software project managers

Assignments
 Each student is given an individual assignment on any of the topics discussed in the
class
 Assignments are take-home and deadline-driven (typically of 2 weeks duration)
announced post Mid-semester examination
 Students to spend at least 16 hours of work in study, research, discussion and
preparation of the report and presentation.
 As part of deliverables, the student is expected to prepare a report and make a short-
presentation in the class

Project Activity/ Experiential Lab:

Sr No Lab Details/ Project Details Access

 01 Matlab On-ramp Installing Matlab in PC
02 Virtual Lab: Matlab software: – 16 hours of practice – Graded Through online portal
for 20%

Evaluation Scheme:
Legend: EC = Evaluation Component; AN = After Noon Session; FN = Fore Noon Session

Evaluation Name Type (Open Weight Duration Day, Date, Session,

Component (Quiz, Lab, Project, Mid- book, Closed Time
term exam, End semester book,
exam, etc.) Online, etc.)
Theory- Quiz/Assignment Online 10% 2 Weeks August 16-30, 2022
EC - 1 Lab Assignment Online 16% TBA
Lab Quiz Online 04% TBA
Mid-Semester Test Open Book 30% 2 hours Friday, 23/09/2022
EC - 2
(FN)
Comprehensive Exam Open Book 40% 2 hours Friday, 25/11/2022
EC - 3
(FN)

Closed Book: No reference material of any kind will be permitted inside the exam hall.
Open Book: Use of any printed / written reference material (books and notebooks) will be
permitted inside the exam hall. Loose sheets Photocopies and Laser printouts of any material
will not be permitted. Computers of any kind will not be allowed inside the exam hall. Use of
calculators will be allowed in all exams. No exchange of any material will be allowed.

Note:
It shall be the responsibility of the individual student to be regular in maintaining the self-study
schedule as given in the course handout attend the online/on demand lectures as per details that
would be put up in the BITS eLearn (Taxila) website elearn.bits-pilani.ac.in and take all the
prescribed components of the evaluation such as Assignments/Quizzes Mid Semester and End
Semester Examination according to the Evaluation Scheme given in the respective Course
Handout. If the student is unable to appear for the Regular Examination due to genuine
exigencies the student must refer to the procedure for applying for Make-up Examination
which will be available through the Important Information link on the eLearn website on the
date of the Regular Examination. The Make-up Tests/Exams will be conducted only at selected
exam centres on the dates to be announced later.
 MECHANISM AND ROBOTICS – Simulation LAB
1. Scope of the lab
Mechanism and robotics lab enables the students to understand about the kinematics,
dynamics of various mechanisms used in robotics. In addition it enables the trajectory
synthesis.

2. Objectives of Lab
To design, program, simulate and analyse the various robotics components.

3. Learning Outcome of the lab

 Design the mechanism and analyse the dynamics of various linkages
 Simulate and analyse various direct and inverse kinematics of robotics.

4. List of simulation experiments: Software Tool used: MATLAB

Tutorial Tutorial Name Solving Quiz Assignment
Number Time Marks Marks
1. MATLAB Introduction 2 hours
2. Onramp & Robotics Introduction 2 hours
(Tutorial 1) Mapping-1: Rotation of a
3. 2 hours
frame
(Tutorial 2) Mapping-2: Multiple
4. 2 hours
Rotations of a frame
(Tutorial 3) Homogenous
5. 2 hours 4 Marks 16 Marks
Transformation Matrix
(Tutorial 4) forward kinematics-1: 3
6. DOF manipulators
2 hours
(Tutorial 5) forward kinematics-2: 5
7. 2 hours
DOF Industrial manipulator
(Tutorial 6) Inverse Kinematics: Planar
8. Cylindrical, Spherical, Articulated 2 hours
manipulator
Total Marks 20 Marks

5. Evaluation Scheme

Note: After completion of every practice tutorial problem, take a snapshot and include the
same in the final assignment PPT. Quiz questions will be based on the practice tutorial
problems and results.

Evaluation Scheme
Evaluation Name Type Marks Dates Lab Exam Date Duration
Componen
 t

Quiz based Online 04

on virtual lab

Assignment Online 16 Regular                          TBA

based on TBA
EC - I virtual lab
(12 for Makeup                          TBA
assignment TBA
and 4 for
practise
screenshots)

Instructor-in-Charge