Robot Education Business

(tentative text)

 

Part 1: Machine Elements - 1 (Screws)

 

　Understand the principle, structure, classification, names of parts, standards, etc. of screws. Understand fastening parts such as bolts and nuts and how to use them.

 

 

 

Part 2: Mechanical Elements - 2 (Shaft, key, joint)

 

　Understand matters necessary for designing shafts, such as shaft strength, shaft diameter, and countermeasures against stress concentration. Understand how to connect other parts such as keys and joints.

 

Part 3: Mechanical Elements - 3 (Bearings)

 

　Understand the roles, types, and selection methods of bearings.

 

　To learn practical examples of bearings in reduction gears, etc.

 

Part 4: Mechanical Elements - 4 (Gears)

 

　To understand the principle, types and features of gears, and examples of applications.

 

　Students will understand strength calculations for example problems through exercises.

 

Part 5: Mechanical Elements - 5 (Belts)

 

　To understand transmission using belts and chains.

 

　Through exercises, students will understand how to select timing belts.

 

Part 6: Mechanical Elements - 6 (Springs)

 

　To explain types of coil springs, their applications, and selection methods, and learn design calculation through exercises.

 

 

 

7: Material Selection

 

Students learn about the concept of material selection for machine fabrication. In order to select materials, it is necessary to take into account various factors such as rigidity, cost, weight, and environmental resistance. In this unit, students will actually examine materials according to the subject matter and deepen their understanding through discussions among students.

 

Lesson 8: Mechanical Drawing - 1 (Drawings and Lines, Projection Method)

 

　Learn how to use drawings and lines.

 

　Learn the contents of drawing templates.

 

　Learn about 3-plane view, partial view and scaling by the third angle method.

 

　Learn how to draw 3-sided drawings by CAD and do exercises.

 

Part 9: Mechanical Drawing - 2 (Section Drawing Method)

 

　Students learn and practice cross-sectional drawing methods to cut and represent the contents of an object.

 

　Students will learn how to create easy-to-understand drawings by using full-section drawings, partial sections, and abbreviated drawing methods.

 

Part 10: Mechanical Drawing - 3 (dimensioning)

 

　Students learn how to fill in dimensions, auxiliary symbols for dimensions, and change of scale, and practice.

 

Class 11: Mechanical Drawing - 4 (Dimensional Tolerance and Fits)

 

　Students learn the necessity and types of dimensional tolerances and fits, how to express them, and practice.

 

Class 12: Mechanical Drawing - 5 (Machining, Surface Properties)

 

　Students learn the relationship between machining methods and surface properties, and how to express them in drawings. Students will also learn how to fill in geometric tolerances.

 

Part 13: Mechanical Drawing - 6 (Screws)

 

　Students learn types of screws and how to describe them.

 

　Students learn how to draw bolts, nuts, and fastening conditions as representative screw parts.

 

Class 14: Mechanical Drawing - 7 (Gears)

 

　Students learn how to calculate and express basic dimensions of spur gears and practice drawing them.

 

　Students also learn about keys and keyways.

 

Class 15: Mechanical Drawing - 8 (Shaft, Assembly Drawing)

 

　Students learn drafting methods for shafts and assembly drawings, and create assembly drawings of units including shafts and bearings.

 

Class 16: Mechanical Design Exercise - 1 (Conceptual Drawing)

 

　Students learn the positioning and preparation procedures of conceptual drawings and plan drawings.

 

　Students will be presented with conceptual drawings of a biaxial arm to understand the contents of the exercise.

 

Part 17: Machine Design Exercise-2 (Planning)

 

　Students create a plan drawing of a 2-axis arm at a level that allows a third party to create a parts drawing from the conceptual drawing.

 

Exercise 18: Machine Design Exercise-3 (Plan and Parts List)

 

　Continuing from the previous lesson, students will create a plan drawing.

 

　To make a list of parts necessary for arrangement.

 

Class 19: Mechanical Design Exercise - 4 (Parts Drawing)

 

　Students will create parts drawings based on the plans they created.

 

Class 20: 3D Printer Basics (1)

 

Students learn the characteristics of cutting and molding as molding methods. Students will also deepen their understanding of the history of 3D printers from a methodological perspective. Furthermore, since 3D printers are subject to some restrictions depending on the method, the participants will also learn about the points to keep in mind.

 

Part 21: 3D printer basics (2)

 

Learn the characteristics of each molding material for each molding method of 3D printers that are widely used today, and acquire the knowledge to select the printer and molding material appropriate for the parts to be produced. Also, learn about data formats mainly used by 3D printers.

 

Part 22: CAD Drawing Creation (1)

 

Students will create CAD drawings to be output by 3D printers based on the part drawings created in the 19th lecture.

 

Session 23: CAD Drawing (2)

 

Students continue to create CAD drawings. Upon completion, students will actually create the parts designed by the 3D printer.

 

 

 

Session 24: CAD drawing creation (3) + part creation

 

Students will continue to create CAD drawings and create parts using a 3D printer.

 

25: Motor Selection-1 (Mechanics)

 

　Students learn about velocity and acceleration, linear motion and rotational motion.

 

　Understand force and torque, mass and moment of inertia.

 

　Understand the similarity between linear motion and rotational motion.

 

Class 26: Motor Selection-2 (Power Transmission)

 

To learn about reduction gears and various power transmission mechanisms.

 

　Understand their influence on moment of inertia and equivalent moment of inertia.

 

Session 27: Motor Selection-3

 

Understand "motor with reduction gear" given as exercise material.

 

Learn about acceleration/deceleration patterns, which are the basis of motion control.

 

　Practice how to evaluate the suitability of motor specifications according to the set acceleration/deceleration patterns.

 

Part 28 - 29: Fabrication Exercise

 

Confirm and assemble parts according to the parts list prepared in the 18th session.

 

　Assemble the motor with reducer to be provided, and adjust the operation.

 

Part 30: Summary

 

 

 

　Summarize the whole process up to the end of the course.

 

Part 1: Guidance (How to proceed with the class)

 

Students learn about modern robot mechanisms, mechatronics, robot design methods, and mechanism optimization.

 

Second lecture: Robot mechanism configuration

 

Students learn about robot degrees of freedom, motion performance (work area, positioning accuracy, speed, acceleration), and characteristics of robots for different tasks (painting, welding, transport).

 

Part 3 and 4: Setting up the coordinate system of the robot and DH parameters

 

Using the basic rotation matrix, learn about the coordinate system to be set for the robot's joints, fixed coordinates, and DH parameters connecting the two.

 

Part 5 and 6: Coordinate System Transformation Matrix

 

Explain how to create an arm matrix that represents the mechanism of a robot. Students will learn the geometric meaning of each component of the matrix, and learn the coordinate system transformation matrix using MATLAB.

 

7th and 8th: Robot Forward and Inverse Kinematics

 

Students learn forward kinematics to obtain the position and posture of a robot's paw when given a joint displacement, and inverse kinematics to obtain the joint displacement when given the position and posture of a robot's paw. Learn examples of actual industrial robots; learn examples of forward and inverse kinematics using MATLAB.

 

Part 9 and 10: Jacobi Matrix

 

Explain the matrix that shows the relationship between joint displacement and paw position and posture of a robot. Learn how to use this matrix to show the relationship between micro-displacements of a robot, and learn examples of Jacobi matrices using MATLAB.

 

11th and 12th: Velocity Analysis and Statics

 

Students learn the relationship between the velocity of each joint of the robot and the velocity and angular velocity of the paw using Jacobi matrices. Also, learn how to calculate the torque applied to each joint when a force or moment is applied to the paw, and learn examples of velocity analysis and statics using MATLAB.

 

Lectures 13 and 14: Robot Dynamics

 

Students learn about Newton-Euler equations of motion. Students will also learn about the equations of motion for robots, and learn examples of deriving the equations of motion using MATLAB.

 

Class 15-17: Robot dynamics analysis using MATLAB 1

 

Students learn the actual mechanism of a robot (motor capacity, reduction gear, arm length, and transmission system) based on an actual industrial robot design example.

 

arm length, and transmission system) based on actual industrial robot design examples. Based on this, students will build a motion model on a computer.

 

Class 18-20: Robot motion analysis using MATLAB 2

 

Students will perform motion simulation by giving trajectories to the motion model created based on an actual industrial robot design example. Based on the discussion of the results, students will learn whether the motion performance is good or bad (recognition of singularities, etc.).

 

Class 21-23: Motion Analysis of Robots Using MATLAB 3

 

Using a motion model based on an actual industrial robot design example, determine the change in motor load when the conveyance load is varied. Repeat simulations to learn the optimum relationship between motor and reducer.

 

Class 24-26: Motion Analysis of Robots Using MATLAB 4

 

Students learn how to design a control system according to the purpose based on the simulation results of an actual industrial robot using MATLAB.

 

Class 27-29: Motion Analysis of Robots Using MATLAB 5

 

Students will learn specific design examples assuming mechanical elements of robots.

 

Lesson 30: Summary

 

 

 

Students summarize robot design methods.

 

Guidance

 

Students review "Fundamentals of Control Engineering" and learn the relationship with the system state space representation. Understand how to describe the state space representation considering input, output, and internal state.

 

Part 3 and 4: System State Space Representation

 

Students learn mathematical models and state space representation of dynamic systems. Students will also learn the mathematical knowledge (vector and matrix operations) necessary for modern control, and how to obtain the impulse response, step response, and other time responses of a linear system represented in state space using MATLAB.

 

Sessions 5 and 6: State Space Representation and Transfer Functions

 

Students learn the relationship between transfer function representation and state space representation. Students learn how to convert from transfer function to state equation and from state equation to transfer function, and how to handle state space using MATLAB.

 

7th and 8th: System Response and Stability

 

Students learn how to solve the equation of state and the conditions for system stability. Poles and asymptotic stability, poles and transient properties, partial fractional decomposition, and transition matrices are studied using MATLAB.

 

Part 9 and 10: Control with State Feedback

 

Regulator control with state feedback and controller design with pole placement will be evaluated using MATLAB.

 

11th and 12th: Controllability and observability of systems

 

Discrimination of controllability, pole placement for multi-input systems, and Ackermann's pole placement algorithm will be studied, and controllability and observability will be evaluated using MATLAB.

 

Part 13 and 14: Observer Design

 

Students learn state estimation, observability, observer gain setting, and output feedback control using a same dimensional observer, and evaluate observers using MATLAB.

 

Part 15 and 16: Design of Servo Systems

 

Students learn target value tracking control using feedforward, influence of disturbance, and integral controller.

 

Part 17 and 18: Optimal Regulator

 

Students learn about control system design with optimal regulator, Riccati equation, and optimal servo system; learn how to construct optimal servo system using MATLAB; use MATLAB to evaluate optimal regulator on a pre-defined dynamic model of a robot; learn how to design optimal servo system using MATLAB; learn how to design optimal servo system using MATLAB; learn how to design optimal servo system using MATLAB.

 

Part 19 and 20: Dynamics and Computational Torque Control

 

Students learn feed-forward control of computational torque using inverse dynamics model, and evaluate computational torque control on a pre-defined dynamic model of a robot using MATLAB.

 

Part 21 and 22: Hybrid Force-Position Control

 

Students learn the hybrid control method that combines the trajectory tracking control to control the trajectory accurately and the force control based on the information of external force using the force sensor.

 

Sessions 23 & 24: Adaptive Control

 

Students learn adaptive control methods to adaptively and automatically adjust control parameters of a controller to dynamic characteristic fluctuations caused by environmental changes and drastic load changes on a robot.

 

Class 25-28: Control system design using an articulated robot and evaluation of the actual robot

 

Students design and evaluate the control systems studied so far on the assumption of an actual articulated robot.

 

29thand 30th : Summary

 

 

 

Students summarize robot control methods and their actual applications.

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