Objectives and Brief outline of laboratory
Mechanisms are used in variety of fixed motion generation applications in Engineering, where as Robots are used in applications where programmable motion in required. This Laboratory provides a basic exposure to design and control of such motion control applications in various applications. Ranging from 2D planar mechanisms to that of spatial mechanism design a set of experiments are offered concerning position, velocity and acceleration synthesis and analysis for basic motions. In addition some basic mechatronic control methods using a common Lab PC and USB interface to control motion generating devices like stepper motor and servo motor are offered. These are further augmented with real robot control as applied in fixed base manipulators to that of moving base robots.
To show how a motion path in a 6-D space that can be generated by an open chain mechanism or robot using 6 inputs.
The motion of the end-effector (or the tool) of the robot can be mapped to that of the inputs given.
User learns the various aspects of motions generated in such mechanism or robot through a series of visual simulations that can be carried out by varying its basic parameters.
The student can also control a robot live in this mode through a special live control option.