Mechanisms: Degrees-of-freedom, overview of standard planar mechanismsIntroduction to Robots: Robot types, trends, applications, classification – Anatomy and architecture of manipulators.Kinematics of Robotic Arms: Degrees-of-freedom, representation of translation and rotation, Homogeneous Transformation Matrices (HTM), Denavit-Hartenberg (DH) parameters, forward and inverse kinematics of standard serial manipulators (upto 6-axis wrist-partitioned robot), forward and inverse velocity Jacobian matrices and their physical significance.Statics of Robotic Arms: Static force analysis, Jacobian and force relations.Dynamics of Robotic Arms: Mass and inertia properties, Euler-Lagrange and Newtons-Euler methods for dynamic analyses of systems with translational and rotational motions, forward and inverse dynamics of serial manipulators.Motion Planning of Robotic Arms: Joint level and Cartesian level motion, robot programming. Mobile Robots: Mechanics of wheeled, legged and aerial robots.Suggested Lab Sessions:? CAD Software: Part Modelling and Assembly Modelling.? CAD Software: Analysis of Serial and Parallel Manipulators.? GeoGebra / Equivalent: Analysis of standard planar mechanisms.? GeoGebra / Equivalent: Development of HTM module to represent translation and rotation.? RoboAnalyzer / Equivalent: DH Parameters, Forward and Inverse Kinematics.? MATLAB/Equivalent: Forward and Inverse Dynamics, Motion Planning.? RoboAnalyzer / Physical Robot: Programming of Robotic Manipulator.? Mobile Robots: Wheeled, Legged and Aerial Robots.? Development of a robotic system using COTS components.
