Course Title and Code
Robot Implementation Methods (EE4505)
Course Credit
2-0-2-3 (Lecture-Tutorial-Practical-Total Credits)
Course Category
GCE
Programme
B.Tech
Prerequisite
Knowledge in basic electrical circuits would be beneficial
Consent of Teacher
Required
Course Content
| S/N | Topic | Lecture (hrs) | Tutorial (hrs) |
|---|---|---|---|
| 1 | 3D/2D design in mechanical CAD software: Concept sketch on paper, 3D part drawings, center-of-gravity and moment-of-inertia, standard parts - motors/bearings/guides/ball screws, export formats and uses, tolerance and accuracy for manufacturing, 2D detailed drawing from 3D file, bill-of-materials, assembly instructions. | 7 | |
| 2 | Printed Circuit Board (PCB) design in electrical CAD software: Component selection (Microcontroller, voltage regulator, sensors - distance sensors, inertial measurement units, incremental encoders, motor drivers, Bluetooth, etc.), creating parts in library (all layers including silkscreen), creating the schematic, arranging components in board, manual trace routing in 2 layers, good routing practices for power/analog/fast signals, exporting the gerber files. | 8 | |
| 3 | Introduction to Robot Kinematics: Modeling of Planar 3R robot, 2 wheeled robot, 2-axis gimbal, Open loop control. | 6 | |
| 4 | Simulation and Visualization Tools: 3D plots and surface plots, ode45 solver, simulating the robots, slip and backlash models, angle/position plots, 3D visualization of robots. | 5 | |
| 5 | Mini-Project: Problem statement full concept (mech + PCB rough schematic + model), reviews and corrections, conclude with a simulation demo - each team in front of full class. | 18 | |
| 6 | Hands-On Experience: Basic Introduction to Analog to Digital Conversion (ADC), Pulse Width Modulation (PWM), Serial Peripheral Interface (SPI), Quadrature Encoder Interface (QEI) and Universal Asynchronous Receiver and Transmitter (UART). Write a small piece of C++ code to make a 2 wheeled robot do a particular task. Learn hands-on of how C++ codes works on microcontrollers. | 2 | 10 (1 hr each) |
Learning Outcomes
- Create 3D and 2D mechanical drawings for interdisciplinary design projects.
- Create a PCB design for their projects.
- Simulate state space kinematic models.
- Conduct 3D visualization and simulation to minimize prototyping costs.
Teaching Methodology
Lectures, hands-on design in MATLAB, Autodesk Fusion 360, and Autodesk Eagle.
Assessment Methods
Assignments, Mid-term evaluation, Mini-Project (Simulation code, Mechanical and PCB design equal weightage).
Reference Books
- A Mathematical Introduction to Robotic Manipulation by Richard M. Murray, Zexiang Li, S. Shankar Sastry. ISBN: 0849379814, 9780849379819. [Link](https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf)
- The 8051 Microcontroller & Embedded Systems: using Assembly and C by Kenneth Ayala. ISBN: 8131511057, 978-8131511053.