Basics of Robotics Course Code: ................

Program Name : Diploma in Automation and Robotics

Program Code : AO
Semester : Third
Course Title : Basics of Robotics
Course Code :-

1. RATIONALE

Robotics is the engineering discipline dealing with the design, construction, and operation of
robots.Robots are widely used in such industries as automobile manufacture to perform
simple repetitive tasks, and in industries where work must be performed in environments
hazardous to humans.This course helps the Automation and Robotics diploma graduates to
understand and apply the concepts and principles of Robotics. Students will also be able to
apply the knowledge of given Robotic systems for basic fault finding in industry.

2. COMPETENCY
The aim of this course is to help the student to attain the following industry identified
competency through various teaching learning experiences:

● Maintain Robotic systems.

3. COURSE OUTCOMES (COs)

The theory, practical experiences and relevant soft skills associated with this course are to be
taught and implemented, so that the student demonstrates the following industry oriented
COs associated with the above mentioned competency:
CO.1. Identify the basic anatomy of a robotic system.
CO.2. Select appropriate actuator and gripper based on their features for the
given application
CO.3. Interpret the transformations used in Robots
CO.4. Interpret the kinematics and dynamics of robotic arm
CO.5. Use the codes of Robot programming for given applications.

4. TEACHING AND EXAMINATION SCHEME

Teaching
Examination Scheme
Scheme
Credit Theory Practical
(L+T+P)
L T P Paper ESE PA Total ESE PA Total
Hrs. Max Min Max Min Max Min Max Min Max Min Max Min
3 - 4 7 3 70 28 30* 00 100 40 25@ 10 25 10 50 20

(*): Under the theory PA, Out of 30 marks, 10 marks are for micro-project assessment to
facilitate integration of COs and the remaining 20 marks is the average of 2 tests to be taken
during the semester for the assessment of the UOs required for the attainment of the COs.

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Legends: L-Lecture; T – Tutorial/Teacher Guided Theory Practice; P - Practical; C – Credit,

ESE - End Semester Examination; PA - Progressive Assessment

5. COURSE MAP (with sample COs, PrOs, UOs, ADOs and topics)
This course map illustrates an overview of the flow and linkages of the topics at various levels
of outcomes (details in subsequent sections) to be attained by the student by the end of the
course, in all domains of learning in terms of the industry/employer identified competency
depicted at the center of this map..

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6. SUGGESTED PRACTICALS/ EXERCISES

The practicals in this section are PrOs (i.e. sub-components of the COs) to be developed and
assessed in the student for the attainment of the competency.

Approx.
S. Unit
Practical Outcomes (PrOs) Hrs.
No. No.
Required
1 Use open source software to study different types of robots based I 2*
on configuration and application.
2 Use open source software to study different type of links and joints I 2*
used in robots
3 Use open source software to study different type of Mechanisms I 2
used in Robotics such as Oldham Coupling Mechanism,A quick
return mechanism and CAM follower mechanism
4 Use open source software to visualise Virtual Robot Module I 2*
5 Assemble and operate Hex-crawler Robot. I 2
6 Calculate accuracy, repeatability and resolution of 4 axis Robotic I 2
Arm.
7 Use open source software to analyze 6 axis robots. I 2
8 Assemble the parallel link gripper. II 2
9 Demonstrate the operation of 4 Axis Articulated Robotic Arm - II 2*
Part 1
10 Demonstrate the operation of 4 Axis Articulated Robotic Arm - II 2*
Part 2
11 Use open source software to visualise DH Parameters. III 2*
12 Use open source software to visualise Forward Kinematics IV 2*
13 Use open source software to visualise Inverse Kinematics IV 2
14 Use open source software to visualise Inverse Dynamics IV 2*
15 Use open source software to visualise Forward Dynamics IV 2*
16 Write the codes required in the Blockly based programming (Logic V 2*
based) used in Robotics
17 Move a 4 Axis robotic arm by using a Teach Pendant. V 2*
18 Use Teach Pendant to give commands to the robot with the hand V 2
and record the positions of the robotic manipulator and then make
the robot retrace the same path.
19 Move a 4 Axis robotic arm by manipulating its Joint and V 2*
Coordinates.
20 Demonstrate Vacuum suction cup and 2-finger parallel gripper V 2*
operation of a 4 Axis robot.
21 Interface Proximity sensor with 4 axis Robotic Arm V 2*
22 Interface Color Detection sensor with 4 axis Robotic ArmSensor V 2
23 Implement Digital and Analog I/O (Input/Output) of Robot V 2
24 Implement Motor Ports and PWM I/O (Input/Output) of Robot V 2*
25 Manipulate a 4 Axis robot for Pick & Place operation using a V 2
Vacuum Cup gripper.
26 Manipulate a 4 Axis robot for Pick & Place operation using a V 2*
Parallel link Gripper.
27 Demonstrate the operation of Laser engraving using 4 axis robot V 2

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28 Demonstrate the operation of writing with a pen holder mounted V 2*

as an end effector on a 4 axis Robot
29 Demonstrate the operation of 3D printing using a 4 axis robot V 2*
(Basic)
30 Demonstrate the operation of 3D printing using a 4 axis robot V 2
(Advanced)
31 Interface and program conveyor and concurrent operation with V 2*
robot for different payloads
32 Test the Proximity type door sensors and Stack-light using 4 Axis V 2*
robot.
Total 64
Note
i. A suggestive list of PrOs is given in the above table. More such PrOs can be added to
attain the COs and competency. A judicial mix of minimum 24 or more practical need to be
performed, out of which, the practicals marked as ‘*’ are compulsory, so that the student
reaches the ‘Precision Level’ of Dave’s ‘Psychomotor Domain Taxonomy’ as generally
required by the industry.
ii. The ‘Process’ and ‘Product’ related skills associated with each PrO is to be assessed
according to a suggested sample given below:

S. No. Performance Indicators Weightage in %

1 Preparation of experimental setup. 20
2 Setting and operation. 20
3 Safety measures. 10
4 Observation and recording. 10
5 Interpretation of result and conclusion. 20
6 Answer to sample questions. 10
7 Submission of report in time. 10
Total 100

The above PrOs also comprise of the following social skills/attitudes which are Affective
Domain Outcomes (ADOs) that are best developed through the laboratory/field based
experiences:
a. Follow safety practices.
b. Practice good housekeeping.
c. Demonstrate working as a leader/a team member.
d. Maintain tools and equipment.
e. Follow ethical Practices.

The ADOs are not specific to any one PrO, but are embedded in many PrOs. Hence, the
acquisition of the ADOs takes place gradually in the student when s/he undertakes a series of
practical experiences over a period of time. Moreover, the level of achievement of the ADOs
according to Krathwohl’s ‘Affective Domain Taxonomy’ should gradually increase as planned
below:
● ‘Valuing Level’ in 1 st year
● ‘Organizing Level’ in 2 nd year
● ‘Characterizing Level’ in 3 rd year.

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7. MAJOR EQUIPMENT/ INSTRUMENTS REQUIRED

The major equipment with broad specification mentioned here will usher in uniformity in
conduct of experiments, as well as aid to procure equipment by authorities concerned.

Sr. PrO. S.
No.
Equipment Name
No.
4 axis Robotic Arm Workcell - (Qty = 1) 6, 9, 10,
Specifications: 18-32
ROBOT:
- Number of axes = 4 axis articulated robot
- Payload = 500 gram
- Max. reach = 320 mm
- Position repeatability (Control) = 0.2mm
- Communication = USB/Wifi/Bluetooth
- Power supply = 100V-240V, 50/60Hz
- Power in = 12A, 7A DC
- AXIS MOVEMENT:
- Joint 1 (base)= Range: -90° to +90°, max speed: 320°/sec
- Joint 2(rear arm) = Range: 0° to +85°, max speed: 320°/sec
- Joint 3 (forearm) = Range: -10° to +95°, max speed: 320°/sec
- Joint 4 (rotation servo) = Range: +90° to -90°, max speed: 480°/sec
PHYSICAL: Education Workcell - Industry grade
- Net weight = 3.4kg for robot and total 8 kg for the education sell
1 - Footprint = 158mm x 158mm
- Materials = Aluminium Alloy 6061, ABS Engineering plastic
- Controller = Integrated type
- Mounting = Desktop
END EFFECTORS:
- 3D printer kit with max print size of 150mm x 150mm x 150mm, PLA
material with a resolution of 0.1mm
- 500mw, 405nm (Blue laser) powered by 12V, TTL trigger (with PWM
Driver)
- 10mm diameter pen holder
- 20 mm diameter vacuum suction cup with a pressure of -35Kpa
- Pneumatic gripper with a range of 27.5mm and 8N force

CONVEYOR:
- Payload = 500g
- Effective delivering distance = 600mm
- Maximum speed = 120mm/s
- Maximum acceleration = 1100m/s^2
Power Supply(Single and Dual)-0-30v,0-10A 6, 9, 10,
2
18-32
3 Digital Multimeter 6, 4, 8
Computers for software - Dobot software suite 1-32
4 RAM - 4GB
Windows OS
5 Hex crawler robot 4
6 Parallel link Gripper kit 8
7 Mechanism Display board 3

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8. UNDERPINNING THEORY COMPONENTS

The following topics are to be taught and assessed in order to develop the sample UOs given
below for achieving the COs to attain the identified competency. More UOs could be added.

Unit Unit Outcomes (UOs) Topics and Sub-topics

(in cognitive domain)
Unit – I 1a. Describe the anatomy of the 1.1 Robot definition, robot anatomy,
Introducti Robot links, types of joints.
on to 1b. Classify the Robots 1.2 Classification of robots, robot
Robotics 1c. Calculate the Degree of Freedom specifications.
of a given robot. 1.3 Degree of freedom and its
1d. Identify the safety measures to calculations, repeatability, precision,
be adopted for given Robotic compliance
application 1.4 Safety measures in robots.
Unit– II 2a. Describe the features of given 2.1 Features of Actuators : Electric
Actuators Actuators actuators, Pneumatic and Hydraulic
and 2b. Select the appropriate actuator actuators.
Grippers for the given application 2.2 Comparison of Actuators.
2c. Select appropriate gripper for the 2.3 Type of end effectors and grippers:
given application mechanical grippers, pneumatic
gripper, magnetic grippers, vacuum
grippers, adhesive grippers, active
and passive grippers
Unit– III 3a. Estimate the orientation of a 3.1 Pose of a rigid body, Orientation
Transfor given robot description
mations 3b. Describe coordination 3.2 Coordination transformation,
used in transformation and rotation rotation matrices
Robotics matrices of a given robotic 3.3 Homogeneous transformation
system matrix, DH parameters.
3c. Calculate the DH parameters of a 3.4 Forward position analysis, Inverse
given robot position analysis.
3d. Differentiate between Forward &
Inverse Position /Analysis
Unit– IV 4a. Differentiate between Kinematics 4.1 Kinematics and Dynamics :
Kinemati & Dynamics Velocity & Acceleration Analysis
cs and 4b. Perform Jacobian computations 4.2 Jacobian Matrix & computations
Dynamics for a given system 4.3 Case study of Forward & Inverse
of the 4c. Perform forward & inverse velocity and Acceleration analysis.
Robotic velocity and acceleration analysis
arm of a given system
Unit-V 5a. Determine motion planning of 5.1 Motion planning : Joint space
Motion the given robot planning, Cartesian space planning
Planning 5b. Determine Cartesian trajectories 5.2 Cartesian trajectories, Point to point
of a given robot vs continuous path planning.
5c. Describe architecture of robot 5.3 Architecture of Robot Programming:
programming Hardware architecture, Robot
5d. Compare various methods of Languages, Structure of a Robot
robot programming language, Requirement of Robot
language
5.4 Methods of Robot Programming:

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Online and offline programming,

Lead-through and Walk-through
programming

Note: To attain the COs and competency, above listed UOs need to be undertaken to achieve
the ‘Application Level’ and above of Bloom’s ‘Cognitive Domain Taxonomy’

9. SUGGESTED SPECIFICATION TABLE FOR QUESTION PAPER DESIGN

Distribution of Theory Marks

Unit Teaching
Unit Title R U A Total
No. Hours
Level Level Level Marks

I Introduction to Robotics 06 04 04 02 10

II Actuators and Grippers 06 04 04 04 12

III Transformations 12 04 06 06 16

IV Kinematics and Dynamics 12 04 06 06 16

V Motion Planning 12 04 06 06 16

Total 48 20 26 24 70

10. SUGGESTED STUDENT ACTIVITIES

Other than the classroom and laboratory learning, following are the suggested student-related
co-curricular activities which can be undertaken to accelerate the attainment of the various
outcomes in this course: Students should conduct following activities in group and prepare
reports of about 5 pages for each activity, also collect/record physical evidences for their
(student’s) portfolio which will be useful for their placement interviews:
a. Prepare a chart displaying the various types of robots
b. Prepare a chart displaying the various types of grippers
c. Prepare a chart displaying the various types actuators
d. Visit nearby process industries and prepare a report on robotic systems used.
e. Market survey of various programming languages used in robotic industries

11. SUGGESTED SPECIAL INSTRUCTIONAL STRATEGIES (if any)

These are sample strategies, which the teacher can use to accelerate the attainment of the
various learning outcomes in this course:
a. Massive open online courses (MOOCs) may be used to teach various topics/subtopics.
b. ‘L’ in item No. 4 does not mean only the traditional lecture method, but different types
of teaching methods and media that are to be employed to develop the outcomes.
c. About 15-20% of the topics/subtopics which are relatively simpler or descriptive in
nature is to be given to the students for self-directed learning and assess the
development of the COs through classroom presentations (see implementation
guideline for details).

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d. With respect to item No.10, teachers need to ensure to create opportunities and
provisions for co-curricular activities..
e. Video programs/YouTube may be used to teach various topics and sub topics.
f. Demonstrate students thoroughly before they start doing the practice.
g. Encourage students to refer to different books and websites to have a deeper
understanding of the subject.
h. Observe continuously and monitor the performance of students in the Lab
i. Use proper equivalent analogy to explain different concepts.
j. Use Flash/Animations to explain various Robotic actions

12. SUGGESTED MICRO-PROJECTS

Only one micro-project is planned to be undertaken by a student assigned to him/her in the
beginning of the semester. In the first four semesters, the micro-project is group-based.
However, in the fifth and sixth semesters, it should preferably be individually undertaken to
build up the skill and confidence in every student to become a problem solver so that s/he
contributes to the projects of the industry. In special situations where groups have to be
formed for micro-projects, the number of students in the group should not exceed three.
The micro-project could be industry application based, internet-based,
workshop-based, laboratory-based or field-based. Each micro-project should encompass two
or more COs which are in fact, an integration of PrOs, UOs and ADOs. Each student will
have to maintain a dated work diary consisting of individual contribution in the project work
and give a seminar presentation of it before submission. The total duration of the
micro-project should not be less than 16 (sixteen) student engagement hours during the
course. The student ought to submit a micro-project by the end of the semester to develop the
industry oriented COs.
A suggestive list of micro-projects are given here. Similar micro-projects could be
added by the concerned faculty:
a. Prepare a prototype of line follower robot
b. Market survey for robots used in the automobile industry.
c. Market survey for robots used in the packaging industry.
d. Prepare a chart for various types of grippers
e. Prepare a chart for various types of actuators
f. Prepare a prototype for basic robots without microcontrollers.
g. Prepare a prototype on 4 bar mechanisms.
h. Prepare a prototype on a slider crank mechanism.
i. Prepare a prototype on 4 bar mechanisms.
j. Prepare a prototype on a double slider mechanism.
k. Prepare a prototype on Crank and piston.
l. Prepare a prototype on the Geneva Wheel.
m. Prepare a prototype on a Planetary gear train.
n. Prepare a prototype on the Ratchet mechanism.
o. Prepare a prototype on Crane.

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13. SUGGESTED LEARNING RESOURCES

S.
Title of Book Author Publication
No.
1 INTRODUCTION TO SAHA,S.K MCGRAW HILL EDUCATION
ROBOTICS PVT. LTD. ISBN: 9780070140011
2 ROBOTICS DEB,S.R MCGRAW HILL EDUCATION
TECHNOLOGY & PVT. LTD. NEW DELHI,
FLEXIBLE ISBN:0071331298
AUTOMATION
3 INTRODUCTION TO CRAIG, J J PEARSON EDUCATION LTD,
ROBOTICS ( ISBN-10 : 0201543613
MECHANICS AND
CONTROL)
4 ROBOTICS-FUNDAM GHOSAL,ASHIT OXFORD UNIVERSITY PRESS
ENTAL CONCEPTS AVA 2006 ISBN-10: 61956729133
AND ANALYSIS

14. SUGGESTED SOFTWARE / LEARNING WEBSITES:

a. http://www.roboanalyzer.com/virtual-experiments.html.
b. http://www.roboanalyzer.com/mechanalyzer.html
c. http://vlabs.iitkgp.ac.in/mr/
d. https://www.robotshop.com/community/

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