AKTU Sensors and Actuators for Robotics (HTRA501) Syllabus PDF – B.Tech Honors Degree in Robotics and Artificial Intelligence

Course Outcomes

Course Outcomes

1. Explain the anatomy of a robotic system
2. Understand the vision sensors in robotics.
3. Select the actuators for designing a robot system.
4. Use the electric actuators in a robotic system.
5. Analyse the use of various types ofPneumatic & Hydraulic actuators in a robotic system.

Unit 1: Anatomy of Robotic system and Sensors

Links and joints in robots, types of joints, end effectors, concept of degrees of Freedom and its calculations.

Pressure/contact. Resistive position. Infrared. Light. Position Sensors, optical encoders, proximity sensors, Range sensors, Ultrasonic sensors, Touch and Slip sensors. sensors for motion and position, Force, torque and tactile sensors, Flow sensors, Temperature sensing devices.

Unit2: Vision Sensors

Vision System Devices, Image acquisition, Masking, Sampling and quantisation, Image Processing Techniques, Noise reduction methods, Edge detection, Segmentation.

Unit3: Advanced Sensor Technology

Smart sensors, MEMS based sensors, Innovations in sensor technology; Actuators and its selection while designing a robot system. Types of transmission systems, IOT

Unit4: Electric Actuators

Direct current motor, Permanent magnet stepper motor, Servo Control DC motors, Linear and latching linear actuators, Rotary actuators, Piezoelectric actuators, Actuator parameters and characteristics, Stepper motors, Specifications and characteristics of Stepper Motors Servo Motors.

Unit5: Pneumatic & Hydraulic actuators

Hydraulic and pneumatic power actuation devices: Hydraulic Actuators, selection of linear actuating cylinders, Hydraulic Motors, Pneumatic actuators, design considerations and selection, pneumatic cylinders, pneumatic drive system, Linear & rotary actuators. Advanced actuators – Piezoelectric actuators, elastomer actuators, soft actuators, shape memory alloy based actuators, under actuated robotic hand.

Text Books

• D. Patranabis, Sensors and Transducers, PHI, 2nd Edition 2013.
• Jon S. Wilson, Sensor Technology Handbook, Elsevier, 2005. Suggested Reference Books
• Mc Comb, G. Robot builder's bonanza. 5th ed. New York: McGraw-Hill, 2019. ISBN 9781260135015.
• Braünl, T. Embedded robotics: mobile robot design and applications with embedded systems. 3rd edition Berlin; Heidelberg: Springer, 2008. ISBN 9783540705338. (iii) Martin, F.G. Robotic explorations: a hands-on introduction to engineering. Upper Saddle River, N.J.: Prentice-Hall, 2001. ISBN 0130895687.
• Gerard C., M. Meijer, Smart Sensors System, Wiley, 2008. (v)Andrzej M. Pawlak, Sensors and Actuators in mechatronics, Taylor & Francis Group, 2007.
• S. R. Ruocco, Robot Sensors & Transducers, Springer, 2013.