Content of lectures and exercises
1. Introduction to the issue, current state, trends and tasks of robotics, classification, subsystems and their development. Action subsystem - overview of issues (basic knowledge gained in the bachelor's study). Motion units for robot manipulators. Robot mechanics. Engines, design, inspection.
2. Transmission systems in robotics. Design and calculations, design solutions and problems. Planetary, harmonic and cyclic gears. Pantographs. Applications in the action subsystem.
3. Design, solution and calculations of the orientation system.
4. Balancing and balancing subsystems.
5. Design of drives, conceptual solution of drives.
6. Design solutions and calculations of motion units and their elements.
7. Effectors - construction, trends, calculations.
8. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters.
9. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters.
10. Methodology and tools of preliminary design of RaM.
11. Modular robots - concept, force calculation, accuracy and stiffness estimates.
12. Serial and parallel concepts of robots, analysis, comparison, specific procedures.
13. Service robots - differences of design solutions, requirements and design procedures compared to industrial robots.
14. Manufactured types of industrial and service robots, serial, parallel, special - application and analysis of parameters, properties and issues.
15. Norms and standards in robotics, economic and implementation context. Market requirements. Issues of conformity assessment and product liability. Independent design of the control system according to the assignment - evaluation.
List of exam questions
1. Mechanics of robots.
2. Design and inspection of engines, power determination.
3. Optimization of the drive gear ratio.
4. Conceptual solution of industrial robot drives, slim and hybrid concepts.
5. Gears used in robotics - planetary gears.
6. Harmonic and cycle gears.
7. Pantographs.
8. Moving screws.
9. Management and storage of movement units.
10. Orientation system, concept, design.
11. Robot positioning units - linear and rotary.
12. Balancing of positioning units.
13. Effectors
14. Preliminary design of the robot action subsystem.
15. Modular robots - concept, force calculation
16. Modular robots - accuracy estimates.
17. Modular robots - stiffness estimates
18. Design of elements of the action subsystem - methods and tools.
19. Assessment of the action subsystem in terms of critical parameters. Principles and measures for adjustment.
20. Parallel robots - design principles, properties, parameters.
21. Service robots - design methods.
22. Manufactured types of robots - overview, properties, specifics.
1. Introduction to the issue, current state, trends and tasks of robotics, classification, subsystems and their development. Action subsystem - overview of issues (basic knowledge gained in the bachelor's study). Motion units for robot manipulators. Robot mechanics. Engines, design, inspection.
2. Transmission systems in robotics. Design and calculations, design solutions and problems. Planetary, harmonic and cyclic gears. Pantographs. Applications in the action subsystem.
3. Design, solution and calculations of the orientation system.
4. Balancing and balancing subsystems.
5. Design of drives, conceptual solution of drives.
6. Design solutions and calculations of motion units and their elements.
7. Effectors - construction, trends, calculations.
8. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters.
9. Principles and methodology of calculation of elements of the action subsystem in terms of critical parameters.
10. Methodology and tools of preliminary design of RaM.
11. Modular robots - concept, force calculation, accuracy and stiffness estimates.
12. Serial and parallel concepts of robots, analysis, comparison, specific procedures.
13. Service robots - differences of design solutions, requirements and design procedures compared to industrial robots.
14. Manufactured types of industrial and service robots, serial, parallel, special - application and analysis of parameters, properties and issues.
15. Norms and standards in robotics, economic and implementation context. Market requirements. Issues of conformity assessment and product liability. Independent design of the control system according to the assignment - evaluation.
List of exam questions
1. Mechanics of robots.
2. Design and inspection of engines, power determination.
3. Optimization of the drive gear ratio.
4. Conceptual solution of industrial robot drives, slim and hybrid concepts.
5. Gears used in robotics - planetary gears.
6. Harmonic and cycle gears.
7. Pantographs.
8. Moving screws.
9. Management and storage of movement units.
10. Orientation system, concept, design.
11. Robot positioning units - linear and rotary.
12. Balancing of positioning units.
13. Effectors
14. Preliminary design of the robot action subsystem.
15. Modular robots - concept, force calculation
16. Modular robots - accuracy estimates.
17. Modular robots - stiffness estimates
18. Design of elements of the action subsystem - methods and tools.
19. Assessment of the action subsystem in terms of critical parameters. Principles and measures for adjustment.
20. Parallel robots - design principles, properties, parameters.
21. Service robots - design methods.
22. Manufactured types of robots - overview, properties, specifics.