Module Details

Module Code: PROJ C4606
Module Title: Robot Mechanics
Title: Robot Mechanics
Module Level:: 8
Credits:: 5
Module Coordinator: Frances Hardiman
Module Author:: Dorel Picovici
Domains:  
Module Description: To introduce students to the issues involved in the mechanical design and modelling of robotic manipulators.
 
Learning Outcomes
On successful completion of this module the learner will be able to:
# Learning Outcome Description
LO1 Distinguish the variety of common mechanical components and joint types used in robotic systems
LO2 Analyze the principles of object location
LO3 Calculate end effector position for typical robot arm configurations
LO4 Calculate manipulator kinematics, position, velocity and acceleration
LO5 Relate theory to practical end effector location and positioning
Dependencies
Module Recommendations

This is prior learning (or a practical skill) that is recommended before enrolment in this module.
No recommendations listed
Co-requisite Modules
No Co-requisite modules listed
Additional Requisite Information
No Co Requisites listed
 
Indicative Content
Common components
Wrists, End Effectors, Joint types; Prismatic waist, revolut shoulder etc. Link types, robot classifications (play back, vision controlled etc.)
Object location in 3-D Cartesian space
Cartesian coordinates, two and three dimensional transformations using matrices, Relative and general transformations, Inverse transformation
Forward and inverse kinematic modelling of multi-link manipulators
Assignment of coordinate frames, Homogenous transformations, Direct kinematic solutions, General orientation transform, Inverse kinematics, redundancies and degeneracies
Dynamic solution of robot manipulators
Velocity and acceleration of rigid bodies, Differential Motion, The manipulator Jacobian, Singularities
Module Content & Assessment
Assessment Breakdown%
Continuous Assessment20.00%
Practical10.00%
End of Module Formal Examination70.00%

Assessments

Full Time

Continuous Assessment
Assessment Type Examination % of Total Mark 20
Timing n/a Learning Outcomes 1,2,3,4,5
Non-marked No
Assessment Description
Various assessments to reinforce learnings given throughout the semester.
No Project
Practical
Assessment Type Practical/Skills Evaluation % of Total Mark 10
Timing n/a Learning Outcomes 5
Non-marked No
Assessment Description
A set of regular practical exercises to complement the theory elements of the module.
End of Module Formal Examination
Assessment Type Formal Exam % of Total Mark 70
Timing End-of-Semester Learning Outcomes 1,2,3,4
Non-marked No
Assessment Description
Formal end of semester examination
Reassessment Requirement
Repeat examination
Reassessment of this module will consist of a repeat examination. It is possible that there will also be a requirement to be reassessed in a coursework element.

SETU Carlow Campus reserves the right to alter the nature and timings of assessment

 

Module Workload

Workload: Full Time
Workload Type Workload Category Contact Type Workload Description Frequency Average Weekly Learner Workload Hours
Lecture Contact No Description Every Week 4.00 4
Laboratory Contact No Description Every Week 1.00 1
Independent Learning Time Non Contact No Description Every Week 4.00 4
Total Weekly Contact Hours 5.00
 
Module Resources
Recommended Book Resources
  • Phillip John McKerrow. (1991), Introduction to robotics, [ISBN: 978-020118240].
This module does not have any article/paper resources
This module does not have any other resources
Discussion Note: