Robotic Mechanisms

Subject description

Redundant mechanisms (primary and secondary task, kinematic redundancy, hiperredundancy); Parallel mechanisms (characteristics of parallel mechanisms, connectivity of legs and degrees of freedom, kinematic equations); Robot contact (basic contacts, contact models); Robot grasp (robot grasp with two fingers, robot grasp with multiple fingers, grasp matrix); Tendon systems (kinematics, statics and tendon system control); Humanoid robot mechanisms;

The subject is taught in programs

Objectives and competences

The student becomes familiar with newest robot mechanisms, the parallel robots and mutifinger grippers. Presented are also mechanisms of humanoid robots. Within the practical part of the course students work in lab with redundant systems (mobile robot and manipulator), robot grippers and measurement gloves. They build bipedal walking robots and program humanoid robots.

Teaching and learning methods

Students have available textbook with the course  topics. Part of the course is given by invited lecturer from the research institute. Occasionally are invited also lecturers from abroad. Practical work is commencing in form of projects in the labs of Faculty and the Institutes. Students cooperate in a smaller groups.

Expected study results

After successful completion of the course, students should be able to:

– describe specifics of redundant mechanisms,

– connect solutions of primary and secundary taks,

– treat kinematics and properties of parallel mechanisms,

– depicting properties of touch and compare models of touch,

– treat robot grasps that use various numbers of fingers,

– prepare kinematic model for tendon system.

Basic sources and literature

1. J. Lenarčič, T. Bajd, M. Stanišić: Robot mechanisms, Springer, 2013.

2. L.W. Tsai: Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley&Sons, Inc., New York, 1999.

3. M.W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling and Control, John Wiley&Sons, Inc., New York, 2005.

4. B. Siciliano, O. Khatib, Springer Handbook of Robotics, Springer, 2nd edition, 2016.

5. K. M. Lynch, F.C. Park: Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017.

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