Mechatronics and Robotics

MECHATRONICS

Unit I : 

Introduction to Mechatronics: What is mechatronics, Mechatronic systems, Measurement systems, Control systems, micrpoprocessor based controllers, multi discipline scenario

Signal conditioning process, Operational amplifier (inverting amplifier, non inverting amplifier, summing, integrating amplifier), protection, filtering, data acquisition, multiplexer, analog to digital converter (ADC), digital to analog converter (DAC).

Unit II :

Position Sensors: Limit switch, photoelectric switches, proximity sensors, pneumatic limit valves and backpressure sensors, pressure switches, resolvers, incremental & absolute encoders, decoders & relays. Displacement: Potentiometer sensors, LVDT, capacitive displacement sensors. Velocity sensors: Tachogenerator, use of encoders

Digital logic, number systems, logic gates, Boolean algebra, application of logic gates, sequential logic, flip flop, D flip flop, JK flip flop, Master slave flip flop.

Unit III :

Programmable Logic Controllers(PLC):Introduction, definition and history of PLC,PLC system and components of PLC input output module, PLC advantages and disadvantages.

Ladder diagram & PLC programming fundamentals: Basic components and other symbols, fundamentals of ladder diagram, machine control terminology, update ladder – update, physical components Vs. program components, light control example, internal relays, disagreement circuit, majority circuit, oscillator, holding (sealed or latches) contacts, always ON always OFF contacts, Nesting of ladders. PLC programming: PLC input instructions, outputs, coils, indicators, operational procedures, contact and coil input output, programming example, fail safe circuits, simple industrial applications.

ROBOTICS

Unit IV: 

Fundamentals of Industrial Robots: Specifications and Characteristics, Criteria for selection. Robotic Control Systems: Drives, Robot Motions, Actuators, Power transmission systems; Robot controllers, Dynamic properties of robots-stability, control resolution, spatial resolution, accuracy, repeatability, compliance, work cell control, Interlocks

Unit V:

Robotic End Effectors and Sensors: Transducers and sensors- sensors in robotics & their classification, Touch (Tactile) sensors, proximity and range sensors, force and torque sensing, End Effectors- Types, grippers, Various process tools as end effectors; Robot- End effector interface, Active and passive compliance, Gripper selection and design.

Unit VI:

Robot Programming: Lead through method, Robot program as a path in space, Methods of defining positions in space, Motion interpolation, branching; Textual robot programming languages-VAL II. Robot Applications: Material transfer, machine loading unloading and processing applications.