DESIGN OF MECHANISM AND MANIPULATORS 3 Credits
3 0 0 3
Unit 1 Mechanism for manipulators 9
Mobility analysis - Degrees of Freedom (DOF) - Mixed Mobility - Total, Partial and
Fractional DOF - Closed and Open Chain Systems - Manipulators – Classifications -
actuation and transmission systems.
Unit II Design of robot Mechanism 9
Structural Analysis and Synthesis of mechanisms - Alternative design solutions - Coding,
evaluation and selection of optimum mechanism type synthesis, number synthesis and design
of mechanisms. Indexes of merit; Graphical, Algebraic and Optimization techniques - Matrix
methods of design and analysis; Design of function, path and motion generators - Structural
and mechanical error - Design and Analysis using software.
Unit III Manipulator kinematics 9
Coordinate transformation - DH notations: Arm matrix of SCARA – Alpha-II, PUMA
articulated robot, polar frame, inverse and forward kinematics – Jacobian – Singularities –
Inverse velocity and acceleration.
Unit IV Manipulator Dynamics 9
Newton’s and Euler’s equation – Closed form dynamic equations – Lagrangian formulation
of manipulator dynamics – nonrigid body effect.
Unit V Manipulator selection 9
Selecting of robots for robot application - Reliability of robotic and automation systems and
their evaluation.
Unit VI Case studies
Kinematic model of the finger and thumb - thumb and fingers pose with respect to palm.
Total = 45 Hours
References
1. John J Craig, Introduction to Robotics: Mechanics and Control, Pearson Education,
New Delhi, 2017.
2. Gerry B. Andeen, Robot Design Hand Book, SRI International, McGraw Hill
Publishers, 1988.
3. M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Wiley,
2005.
4. Venkataraman Subramanian T. And Iberall Thea (Eds.), Dextrous Robot Hands,
Springer Publications.
5. AppuKuttan, Robotics, I.K. International Publishing house, New Delhi, 2007.
