Course detail

Industrial Robots and Manipulators I

FSI-GPZAcad. year: 2021/2022

The course contains the lectures concemed with the design of industrial robots and manipulators. With this aim, the economic relationship between the production, prices of production machines and effective manipulation is analysed, and industrial robots are defined. On the basis of a system approach, their basic subsystems are analysed, and an actuation system of industrial robots is highlighted. In view of this, a kinematic chain of industrial robots and manipulators is studied, and on the basis of the theory of combinatorial algorithms, a positioning system of PRaM is described in a greater detail. Further, basic and derived types of industrial robots and manipulators are defined and presented. Orientation system of PRaM, design of translatory and rotary units, drives and gearboxes in the design of PRaM, and some other design solutions to PRaM are studied in a greater detail. The lectures include the issue of kinematic and dynamic analysis of robots. Tutorials are focused on practical demonstrations of industrial robots and their programming.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

doc. Ing. Radek Knoflíček, Dr.

Department

Institute of Production Machines, Systems and Robotics (ÚVSSR)

Learning outcomes of the course unit

The course enables the students to acquire the latest finding from design, projection and possible use of stationary industrial robots and manipulators in industrial practice and also to enlarge the scope of programming skills. The emphasis is also laid on the practical skills of students developed in laboratories from robotics branch.

Prerequisites

Through and detailed knowledge of the mechanisms and parts of the machines, their design and calculation.

Co-requisites

No.

Planned learning activities and teaching methods

The course is taught through lectures explaining the basic principles and theory of the discipline. Teaching is suplemented by practical laboratory work. According to the possibility of teaching can be organized lectures for students by practitioners and excursions to companies focused on activities related to the course content.
In the case of measures to prevent the spread of the infectious disease COVID-19, the necessary online participation.

Assesment methods and criteria linked to learning outcomes

Conditions for awarding the cource-unit credit:
1.Attendance at obligatory tutorials (100 %).
2.Fulfilling conditions of systematic checkups (preparation for tutorials, active participation in tutorials); this will be specified at the beginning of the semester in the respective tutorial.
3.Corrected and agreed up end-of-semester project from the laboratory tutorial.

Course curriculum

Not applicable.

Work placements

No.

Aims

The aim of the course Industrial Robots and Manipulators II is to make students familiar with the basics of uptodate technical robotics. The task is to provide the students with the necessary interconnection between the findings from the areas of designing, projection, control, and application of PRaM that are the grounds for their future working activities as designers of robots and manipulators, or if appropriate designers of robotized workplaces.

Specification of controlled education, way of implementation and compensation for absences

Attendance at the exercises is checked. Absence may be in justified cases compesated for via special make-up work.
Change in covid-19 containments reserved.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

BUDA, Ján a Milan KOVÁČ. Priemyselné roboty. Bratislava: Alfa, 1976. Edícia strojárskej literatúry (Alfa). (SK)
Ganesh S. Hedge: A Textbook of Industrial Robotics Paperback – June 30, 2006, Laxmi Publications (June 30, 2006), 978-8170089247 (EN)
KOLÍBAL, Zdeněk. Roboty a robotizované výrobní technologie. Brno: Vysoké učení technické v Brně – nakladatelství VUTIUM, 2016. ISBN 978-80-214-4828-5. (CS)
NOF, Shimon Y. Handbook of industrial robotics. 2nd ed. New York: John Wiley, 2007. ISBN 0471177830. (EN)
SICILIANO, Bruno, Oussama KHATIB. Springer Handbook of Robotics. Springer-Verlag New York, Inc., 2008. 1611 s. ISBN 978-3-540-23957-4. (EN)
Warnecke, H.J.- Schraft, R.D.: Industrieroboter: Handbuch für Industrie und Wissenchaft. Berlin: Springer-Verlag, 1990. (DE)
XIE, Ming. Fundamentals of robotics: linking perception to action. New Jersey: World Scientific, 2003. Series in machine perception and artificial intelligence. ISBN 981-238-335-2. (EN)

Recommended reading

CHVÁLA, Břetislav, Robert MATIČKA a Jaroslav TALÁCKO. Průmyslové roboty a manipulátory: celostátní vysokoškolská učebnice pro skupinu oborů strojírenství a ostatní kovodělná výroba. Praha: Státní nakladatelství technické literatury, 1990. (CS)
KOLÍBAL, Zdeněk. Průmyslové roboty. Brno: Vysoké učení technické, 1993. ISBN 80-214-0526-0. (CS)
MATIČKA, Robert a TALÁCKO. Mechanismy manipulátorů a průmyslových robotů. 2. přeprac. vyd. Praha: SNTL-Nakladatelství technické literatury, 1991. (CS)
SKAŘUPA, Jiří. Průmyslové roboty a manipulátory. Ostrava: Vysoká škola báňská - Technická univerzita, [2008]. ISBN 978-80-248-1522-0. (CS)

Elearning

eLearning: currently opened course

Classification of course in study plans

  • Programme N-VSR-P Master's 1 year of study, winter semester, compulsory

  • Programme M2V-P Master's

    branch M-VSY , 2 year of study, winter semester, compulsory

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

prof. Ing. Zdeněk Kolíbal, CSc.
doc. Ing. Radek Knoflíček, Dr.
Ing. Jan Vetiška, Ph.D.

Syllabus

1. Introduction to problems, development from mechanization and automation systems to industrial robots, economics of industrial robots deployment
2. Industrial robots in production machines, definition, robot generation, robot system concept, robot action, sensing and control systems
3. Aspects for robot assessment, basic concepts for control and programming of industrial robots. Industrial robot action system.
4. Kinematic pairs in the PRaM construct, basic kinematic chain (positioning and orientation), kinematic pair arrangement and their combinatorial algorithms
5. Basic and derived types of industrial robots
6. Industrial Robots Orientation - Principles and Concepts of Construction
7. Basic building blocks (units) of industrial robots. Drives and gears in the construction of industrial robots
8. Design of drives of basic types of industrial robots
9. Mechanics of manipulation devices - fundamentals of kinematics and dynamics of spatial mechanisms
10. The direct and indirect role of kinematics
11. The direct and indirect role of dynamics - Part 1.
12. The direct and indirect role of dynamics - Part 2.
13. Industrial Robots with Parallel Kinematics

Laboratory exercise

26 hod., compulsory

Teacher / Lecturer

Ing. Vojtěch Štěpánek, Ph.D.
Ing. Mikuláš Szabari, Ph.D.

Syllabus

The one-hour exercises are joined in to the six two-hour blocks and one hour for the course-unit credit:
1. Introduction to industrial robots at the institute laboratory
2. Foundamentalss of the programming motions and activities of robots and manipulators
3. Programmig industrial robots workplace with robot PROB-20
4. Programmig and measurement correction of the industrial robot SPR-10
5. Programmig and measurement correction of the industrial robot APR-20
6. Programmig and measurement correction of the industrial robot IRB 4400/60
7. Course-unit credit

Elearning

eLearning: currently opened course