Industrial Robots and Manipulators I
FSI-GPZAcad. year: 2020/2021
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.
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.
Through and detailed knowledge of the mechanisms and parts of the machines, their design and calculation.
Recommended optional programme components
Recommended or required reading
KOLÍBAL, Zdeněk. Průmyslové roboty. Brno: Vysoké učení technické, 1993. ISBN 80-214-0526-0. (CS)
KOLÍBAL, Zdeněk. Roboty a robotizované výrobní technologie. Brno: Vysoké učení technické v Brně – nakladatelství VUTIUM, 2016. ISBN 978-80-214-4828-5. (CS)
BUDA, Ján a Milan KOVÁČ. Priemyselné roboty. Bratislava: Alfa, 1976. Edícia strojárskej literatúry (Alfa). (SK)
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)
Warnecke, H.J.- Schraft, R.D.: Industrieroboter: Handbuch für Industrie und Wissenchaft. Berlin: Springer-Verlag, 1990. (DE)
MATIČKA, Robert a TALÁCKO. Mechanismy manipulátorů a průmyslových robotů. 2. přeprac. vyd. Praha: SNTL-Nakladatelství technické literatury, 1991. (CS)
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)
SKAŘUPA, Jiří. Průmyslové roboty a manipulátory. Ostrava: Vysoká škola báňská - Technická univerzita, . ISBN 978-80-248-1522-0. (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)
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.
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.
Language of instruction
Are not organized.
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.
Type of course unit
26 hours, optionally
Teacher / Lecturer
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
26 hours, compulsory
Teacher / Lecturer
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: opened course