Module Title:Robot Mechanics
Language of Instruction:English
Credits: 5
NFQ Level:8
Module Delivered In 1 programme(s)
Module Aim: 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 should be able to:
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
Pre-requisite learning
Module Recommendations

This is prior learning (or a practical skill) that is recommended before enrolment in this module.

No recommendations listed
Incompatible Modules
These are modules which have learning outcomes that are too similar to the learning outcomes of this module.
No incompatible modules listed
Co-requisite Modules
No Co-requisite modules listed
Requirements
This is prior learning (or a practical skill) that is mandatory before enrolment in this module is allowed.
No requirements listed
 

Module Content & Assessment

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
Assessment Breakdown%
Continuous Assessment20.00%
Practical10.00%
End of Module Formal Examination70.00%
Continuous Assessment
Assessment Type Assessment Description Outcome addressed % of total Assessment Date
Examination Various assessments to reinforce learnings given throughout the semester. 1,2,3,4,5 20.00 n/a
No Project
Practical
Assessment Type Assessment Description Outcome addressed % of total Assessment Date
Practical/Skills Evaluation A set of regular practical exercises to complement the theory elements of the module. 5 10.00 n/a
End of Module Formal Examination
Assessment Type Assessment Description Outcome addressed % of total Assessment Date
Formal Exam Formal end of semester examination 1,2,3,4 70.00 End-of-Semester

ITCarlow reserves the right to alter the nature and timings of assessment

 

Module Workload

Workload: Full Time
Workload Type Frequency Average Weekly Learner Workload
Lecture Every Week 4.00
Laboratory Every Week 1.00
Independent Learning Time Every Week 4.00
Total Hours 9.00
 

Module Delivered In

Programme Code Programme Semester Delivery
CW_EERAS_B Bachelor of Engineering (Honours) in Robotics and Automated Systems 8 Mandatory