Advanced mechanism design - synthesis

We know that synthesis of mechanisms mean that we design a mechanism for a predicted/ known outcome[ velocity, accleration,path, position etc] .
Bloch's method is a method where in the angular velocity , ang. accln of links are know and the link lengths are calculated analytically.
For those who are interested in the results can go through the jpeg file below

Two position synthesis

This is a video which illustrates how a mechanism is synthesised for given two positions.

This is discussed in M.E advanced mechanisms design class.

Watch the video and give your comments

click to watch /download

Robotics content

The following is the content posted by me during my class for M.E Students.
Make use of the content and give your feedback.
Robotics q &a

Kinematics- forward and inverse in robotics

This is the content discussed in today's class. kinematics in robotics. click to download

Poster presentation of Sensors

There will be a poster presentation on 29 Sep.2015
Theme: Sensors
Atleast 23 types of sensors and its typical application in robots will be displayed.

Advanced mechanisms design

This is a video done by me to illustrate the behaviour of a single dwell mechanism.
The key point in design is to choose a coupler curve  such that it has a circular portion in it.Then by identifying its centre of the curve and locating the output link at that point makes a single dwell mechanism.

Dwell: No output for the given input- Here there will not be any output during the a portion of the movement of the coupler .

Single dwell mechanism- click to download

Synthesis of mechanisms

the content for synthesis of mechanisms can be downloaded from the link given below

available problems

synthesis of 4 bar mechanisms

straight line mechanism

dwell based mechanism using coupler curve

download content

Robotics and automation
This is the introductory lecture I have given in my class

click to download

Finger type gripper topic discussed in the class is given in this reference paper. You may pl download and learn further. For queries and clarifications you may mail/ comment in the section.

click to download

Drawing velocity and acceleration diagram

Majority of the new learners of kinematics find difficult to understand the graphical method of finding the velocity and acceleration for the given mechanism.
I have made an attempt to make it simple by providing animation and audio in the file.
Learners can download the file and make use of them.
Do give your feed back about this.

file size 59MB

click here to download

Phase 1 MEX021 Robotics and Automation

Present your analysis, discussion in not more than 5 pages. Only neat hand written papers in A4 sheets will be accepted. Reference is mandatory.

1.        A robot has to be purchased to trace  a work volume of 9000 cubic mm,  select a suitable robot ,sketch its configuration, specification and give the anatomy of it .

2.       A  robot is to be used for arc welding applications.  Give a detailed analysis , compare the various manufacturers specification, assuming the required data.

3.       Identify a RLR type configuration robot, detail it with the specification given by the manufacturer.

4.       Compare LLR and RLR robot with respect to its work volume, application and detail it with the supplier details.

5.       A robot is proposed for the assembly of a processor in a mother board. What kind of robot configuration will be suitable for this operation. Illustrate the analysis made in the selection.

6.       A wall 900 mm x 250 mm is to be painted .Identify suitable configuration robots for this spray painting operation . Compare the various specifications available

7.       List the various jointed arm configuration robots available in the market. Present the specifications and compare them in terms of their work volume, accuracy,and  repeatability.

8.       List the various robot suppliers in India, detail atleast five robot specifications and mention their applications.

9.       How is a TRL robot varies from RRR. Elaborate in detail. Present the specifications of a robot available in the market and discuss.

10.   Discuss in detail about the teach pendant robot. Elaborate wrt its application and manufacturing specifications.

11.   List the various industrial applications of robots. Indentify the configurations and specifications of the robots needed for those applications.

12.   What are the parameters needed to select a robot for an industrial application. Discuss in detail.

13.   What are smart robots? Identify the areas where smart robots are in demand. Discuss your answer in detail.

14.   Identify the list of parameters needed for selection of a robot. Among the parameters which of those are related for a selection of a robot for assembly  of a  pen and its cap.

15.   Discuss in detail about the jointed arm configuration robot. List the robots which are available with this configuration. Compare their specifications.

16.   What are the relative advantages of parallel robots over serial robots? List out the various configurations of parallel robots and detail them

17.   Discuss in detail about the robots needed for grinding and polishing applications. Detail the configuration and specification of the robot.

18.   Elaborate in detail: Robots deployed for spot welding. Give the manufacturer’s specifications, functioning , configuration, work volume etc. Compare the various specifications from different manufacturers.

19.   Discuss in detail about the current scenario of  industrial robots in India.

20.   Prepare a detailed analysis of  various drives available in robots. Indentify the parameters for the selection of a particular drive .

21.   Identify atleast ten types of  grippers used for robots.  Compare and contrast each of them. Attach the sketches of the grippers.

22.   Discuss the future  of robots in automobile industry .Identify the areas of  application of  robots and elaborate each of them.

23.   Identify the areas where robots can be utilised for foundry applications. Discuss in detail specific references

Robot anatomy

Pl refer this content which will be a supporting material for my lecture

Robot anatomy lecture content

lecture-notes/intro to robot

Seminar topics for presentation 

• Maximum of 15 slides is sufficient. [ title, reference slides mandatory]
• Journal, technical paper content - reference will get more weightage.
• time alloted maximum of 5 minutes.

1. Sensors and its applications in robotics
2. Robots for manufacturing industries
3. Robots in food processing industries
4. Parallel robots
5. Image processing in robots
6. Development of Robot’s Intelligence
7. Micro Electro-Mechanical Systems (MEMS) in Robots
8. Bio metic Materials for Sensor’s of Robots
9. Tele controlled robots
10. A.I. based Robot Systems
11. Artificial Muscles for Robots
12. Universal grippers for Robots
13. Robot Programming and languages used in robots
14. Use of Robots in the Industries
15. Robots for Spy-applications.
16. Use of Robots for domestic purpose.
17. Interactive Robot’s Development.
18. Socio-Economic Problems of Robotisation.
19. Innovative Grasping for Robots.
20. Safety Aspects for Robots.
21. Fuzzy Logic for Robot Control.
22. Speech Recognition for Robots.
23. Micro-Robots: Need, Developments & Application.
24. Nano-Robots: Recent Developments.
25. Motion Planning of Robot
26. Bio  inspired robots
27. Underwater Robot
28. Simulation softwares for Robotics need and it’s applications
29. Service Robots
30. Robotics for Biotechnology
31. Neural Network based control for Robots
32. Robots for Defence Applications
33. Research projects at foreign Universities
34. Synchronous working of robots in a group
35. Robot economics
36. Capabilites of various robot manufactures

This is the content I have referred for our Robotics and automation class - MEX021

Any queries/ discussions are welcome.


https://drive.google.com/file/d/0B_be6my3CLiJMmQwazFGY2ZvdVE/view?usp=sharing