7CCSMROB & 6CCS3ROS Coursework
King’s College London — March 26, 2021
Please complete BOTH objectives and ALL tasks below. This coursework is worth 30% of your overall mark on the module. Each task carries equal marks and the total is 100 marks.
The coursework is due by 3pm on Monday, April 26th 2021. Please ensure your work is submitted before this deadline.
Submission is through KEATS only. Your submission must be a formal technical report that does not exceed 9 pages and must include a cover page, list of contents, abstract and references using the Harvard Referencing system. Please make sure that the report headings correspond to the objectives and tasks below. Also please include a description, discussion and justification in all the tasks for your choices and approach taken.
Info: IMPORTANT: This is an individual assignment only and therefore no group work is allowed. Plagiarism is taken very seriously at King’s. If in doubt please consult your handbook or contact the module leader of the PGT office by emailing at email@example.com.
A company called King’s Robotics Limited has been asked to prepare a design study for the deployment of a robotic assembly solution on behalf of their client. The client wishes to deploy an automated flexible manufacturing cell, whereby one of the components of the cell is a pick-and-place station feeding parts from the CNC machine tool to the assembly station of the cell. The client has provided the specification of the workspace and it is shown in Fig. 1 and described below.
The conveyor has dimensions of 300 x 5000 x 1000 mm, and the specific geometry of the part type to be manipulated has dimensions of 30 x 100 x 50 mm. The location of the robot to be installed is 500 mm away from the horizontal conveyor and 800 mm away from the vertical conveyor as shown in the figure.
Figure 1: Schematic of the workspace to automate
The aim of the study is to design an appropriate solution for the pick and palce task given a specifc design of the workspace the robot will be operating within. In particular it is to design a robot solution that can pick up the parts described above from the horizontal conveyor shown in the figure and place them to the vertical conveyor of the figure.
The study is to meet the following objective:
- To design the solution
- To provide a complete kinematic analysis of the solution
- Design Objective: The design objective is broken down into the following tasks. Please complete them all and include them in your report.
- Descirption the environment and the specific workspace and determine the list of specific motions the robot has to undertake whist performing the pick-and-place task
- Determine the trajectory of the robot and list the points it has to visit whilst performing the task
- Specify an appropriate robot configuration capable of the performing the pick and place task and provide a clear justification of your choice
- Determine the type of joints and degrees of freedom of the robot, with justification for your choice
- Specify the dimensions of the robot to fit the workspace, including all the link lengths that are appropriate for the task to be performed
- Propose the type of actuators that might be appropriate for your solution
- Select an end-effector that is appropriate and provide your justification
- Provide a 2D (or even 3D) drawing of your robot
- Analysis: The analysis objective is broken down into the following tasks. Please complete them all and include them in your report.
- Determine the complete direct kinematics model of your robot, including the allocation of coordinate frames, the extraction of the kinematic parameters and the arm matrix.
- Determine the inverse kinematics equations of your robot
- Determine the joint-space work envelop by specifying the contraints the joints have to operate within
- Determine the Manipulator Jacobian
- Perform dynamic analysis by finding the tool configuration Jacobian
- Find the internal vector of internal joint torques when the end effector carries an object of mass m and is stationary