ME761A

COMPUTER AIDED MANUFACTURING

Credits:

  

 

3-0-0-9
 

Content:


Introduction to Recent Manufacturing systems, Computer aided design, geometric modelling, concurrent engineering, Computer aided process planning, computer control manufacturing systems, Automated Material Handling and storage system, Robotic systems, Quality engineering, statistical process control and automated inspection system, Manufacturing planning and control systems, Group technology and cellular manufacturing system .

Lecture wise break up


I. Lecture 1:

  • 1.1 An overview of a Manufacturing Enterprise

  • 1.2 Design and Manufacturing – A historical Perspective

II. Lecture 2:

  • 2.1 System approach to Computer – integrated Design and Manufacturing

III. Lecture 3:

  • 3.1 The product design process

  • 3.2 Preliminary ideas

IV. Advanced applications of solidification principles (2 Lectures):

  • Manufacturing processes, Energy 2

IV. Lecture 4:

  • 4.1 Computer aided design

V. Lecture 5:

  • 5.1 CAD/Cam Systems

  • 5.2 Mainframe-based systems

  • 5.3 Minicomputer-Based system

VI. Lecture 6:

  • 6.1 CAD System Input-Output Device

  • 6.2 Selection of CAD/SAM System

VII. Lecture 7:

  • 7.1 Computer Graphics and Transformation

  • 7.2 Homogeneous representation

VIII. Lecture 8:

  • 8.1 Introduction to geometric Modeling

IX. Lecture 9:

  • 9.1Geometric molding Approaches

  • 9.2 Parametric and Variational Design

X. Lecture 10:

  • 10.1 Commercial packages to support product molding and analysis

  • 10.2 CAD/CAM Data exchange

    • 10.2.1 IGES
    • 10.2.2 PDES
    • 10.2.3 DXF

XI. Lecture 11:

  • 11.1 Understanding benefits of concurrent engineering

  • 11.2 Characterization of the concurrent engineering environment

XII. Lecture 12:

  • 12.1 Difficulties Associated with performing concurrent engineering

  • 12.2 Concurrent engineering technique

XIII. Lecture 13:

  • 13.1 Overview of Manufacturing Process

    • 13.1.1 Turning operations
    • 13.1.2 drilling operations
    • 13.1.3 Milling operation
    • 13.1.4 grinding operation

XIV. Lecture 14:

  • 14.1Basic Steps in developing a process plan

  • 14.2 Analysis of part requirements

XV. Lecture 15:

  • 15.1 Selection of Machine tools working devices and inspection equipment

  • 15.2 Computer-aided engineering

XVI. Lecture 16:

  • 16.1 Metal-cutting Machines

  • 16.2 Structure of an NC part programming

XVII, XVII & XIX. Lecture 17, 18 & 19:

  • 17.0 Fundamentals of NC part program

  • 18.0 Miscellaneous commands

  • 19.0 Loading the program

XX. Lecture 20:

  • 20.0 Distributed numerical control

XXI. Lecture 21:

  • 21.1 Computer-aided part programming

  • 21.2 Geometry definition

XXII & XXIII. Lecture 22 & 23:

  • 22.1 Programmable logic controller

  • 22.2 Processes interface programming the PLC

  • 3.0 Local area network

XXVI & XXV. Lecture 24 & 25:

  • 24.0 Automated guided vehicle systems

  • 25.0 Automated storage and retrieval system

XXVII. Lecture 26:

  • 26.1 Fundamentals of Robotics and Robotics technology

  • 26.2 The robotics joints

XXVIII & XXVIII. Lecture 27 & 28:

  • 27.0 Robot classification and robot reach

  • 28.0 Robot motion analysis: Forward and backward kinematic transformation

XXIX & XXX. Lecture 29 & 30:

  • 29.0 A framework for quality improvement

  • 30.0 Automated inspection

XXXI. Lecture 31:

  • 31.1 Material requirements planning

  • 31.2 Shop-floor control

XXXII & XXXIII. Lecture 32 & 33:

  • 32.1 Kanban planning and control models

  • 32.2 Signal Kanban

  • 33.1 Alternative JIT system

  • 33.2 Total quality control and JIT

XXXIV. Lecture 34:

  • 34.1 Cell formation Approach

  • 34.2 Evaluation of cell Design

XXXV & XXXVI. Lecture 35 & 36:

  • 35.1 Economics of group tooling in cellular manufacturing

  • 35.2 Product planning and control in cellular manufacturing systems

  • 36.1 Flexibility

  • 36.2 What is the an FMS

XXXVII. Lecture 37:

  • 37.1 Basic features of physicals components of an FMS

  • 37.2 Material handling equipment

XXXVIII. Lecture 38:

  • 38.1 Basic features of control components of an FMS

  • 38.2 Operational problem in FMS

XXXIX. Lecture 39:

  • 39.1 Layout consideration

  • 39.2Loop layout

XXXX. Lecture 40:

  • 40.1 Sequencing of robot moves in robotic cell

  • 40.2 Algorithm

XXXXI. Lecture 41:

  • 41.1 Future trends in manufacturing systems: Agile manufacturing

  • 41.2 Unlearning of currently held truth

Following are the Assignments:

  1. Solid Model drawing and Simulation of any product (with minimum 5 parts)

  2. Generation of Manufacturing drawing of a single part from the product

  3. Machining the part using CNC milling/turning

  4. Measuring the machining deviation using CMM

  5. Generation of error report using matlab

Reference Book:

  1. System approach to Computer-integrated design and manufacturing, Nanua Singh, Wiley India.

  2. Automation, production systems and Computer-integrated Manufacturing, M.P.Groover, Eastern Economy Edition.

  3. Computer aided Manufacturing, T. C. Chang, R. A. Wysk and H. P. Wang, Pearson.
 

ME762A

INTRODUCTION TO ROBOTICS

Credits:

  

 

3-0-0-9
 

Different types of joints, Types of Robots. Spatial transformation. Forward and inverse kinematics of serial manipulators. Singularity and manipulation ability. Actuators, sensors and robot programming in VAL II. Linear control of robotics systems . Applications, motion planning, grasping and industrial automation.

Course plan


I. Introduction to robotics-origin of automation, Classification of robots, Rotations and translation of vectors. (2 hrs)


II. Transformations and Euler angle representations, Homogenous transformations, Problems. (5 Hrs)


III. Direct kinematics , Inverse kinematics. Problems. (6 Hrs)


IV. Velocity kinematics and Jacobian, Statics, singularity and Manipulability. (2 Hrs)


V. Trajectory planning (2 hrs)


VI. Actuators, Velocity and position sensors. Range, proximity, touch sensors. (5 hrs)


VII. Force, torque sensors. (3 hrs)


VIII. Control basics, Linear control basics, Model based control. (5 hrs)


IX. Fore control, Impedance control. (3 hrs)


X. Basic mechanical design concepts. (3 hrs)


XI. Robot Vision, Image segmentation, Template matching, Polyhedral objects, Shape analysis. (2 hrs)


XII. Motion planning – potential fields, projective path planning. (2 hrs)


XIII. Grasping and industrial automation. (2 hrs)
 

ME763A

ROBOT MANIPULATORS: DYNAMICS AND CONTROL

Credits:

  

 

3-0-0-9
 

Review of robot manipulators. Manipulator kinematics (forward and inverse), Singular value decomposition and manipulation ability. Redundant manipulators, Euler-Lagrange/ Newton Euler dynamics of serial manipulators. Linear control , PD, PID control. Control of flexible joint robots. Singularity and workspace analysis. Introduction to manipulator design and optimization.

Course plan


I. Introduction to robotics and automation, Matrix operations and transformations, Rotation and homogenous transformations, Work volumes of robots , DH parameters (6 Hrs)


II. Forward kinematics, Inverse kinematics (6 hrs)


III. Singular value decomposition and generalized solutions to non square matrix inversion (4 hrs)


IV. Redundancy resolution and optimization in robotics , manipulability ellipsoids (4 hrs)


V. Dynamics of robotic systems, Euler-Lagrangian dynamics, Newton Euler dynamics, Identification of dynamics parameters (6 hrs)


VI. Revision of control basics, PD controller design, PID controller design, Impedance control, hybrid control (6 hrs)


VII. State feedback, Drive train dynamics, Control of flexible joint robotic systems, Force control, stability (3 hrs)


VIII. Multi finger Grasping, Walking mechanisms, motion planning (5 hrs)


IX. Optimization in robotic systems, industrial applications (2 hrs)
 

ME766A

ROBOT MOTION PLANNING

Credits:

  

 

3-0-0-9
 

Configuration spaces of mobile vehicles and manipulators, Geometric modelling and sensor based map building. Path planning and obstacle avoidance. Object manipulation and grasping. Design of user interfaces and simulation. Algorithms for assembly and biological aspects of motion and intelligence.

Course plan


I. Review of robotics basics, transformations, kinematics etc. (4 hrs)


II. Concept of configuration space of mobile and arm manipulators (5 hrs)


III. Sensors and actuators as used in mobile robotics (4 hrs)


IV. Geometrical modeling and map building (6 hrs)


V. Path planning and obstacle avoidance (6 hrs)


VI. Object manipulation and grasping (4 hrs)


VII. Design of user interface and simulation (4 hrs)


VIII. Algorithms for applications, assembly, etc (4 hrs)


IX. Intelligence in motion planning and optimization (5 hrs)