ROBOT MECHANICS

ROBOT MECHANICS
1 YEAR (Blocks B|C)
2 YEAR (Blocks A)
1 semester 9 CFU
Marco Ceccarelli A.Y. 2021-22

A.Y. 2022-23

Code: 8039785
SSD: ING-IND/13

LEARNING OUTCOMES:

 The aims of the course are related to explaining the modeling and algorithms for the analysis and design of the functioning of robot mechanisms in terms of mechanical performance. The students will learn how to handle the mechanics of robot by acquiring skills in analyzing and design robots for manipulation tasks in industrial and service applications.

KNOWLEDGE AND UNDERSTANDING:

during the course, problems and characteristics of robotic systems structures and operations are presented to increase students’ knowledge and to allow them to understand problems and solutions in the specific area of ​​robotics

APPLYING KNOWLEDGE AND UNDERSTANDING:

Students are required to apply the characteristics and algorithms for the analysis of manipulations and robotizations of specific robotic systems for merit assessments and demonstrate specific presentation and discussion skills of robotics issues.

MAKING JUDGEMENTS:

Students are involved in the presentation of the modeling and in the discussion of the problems to learn to examine in an autonomous and critical way the problems of analysis of robotic systems.

COMMUNICATION SKILLS:

During the course, the students take part in the discussion of the presented topics and at the end of the course present a report of manipulation and robotization analysis of their choice.

LEARNING SKILLS:

During the course, the students are involved in the discussion for a continuous stimulus to verify the learning and presentation of robot mechanics. the learning achieved is also verified in the presentation of the elaboration of manipulation and robotization analysis of their choice

SYLLABUS:

types of robots and industrial and service applications; components, technical characteristics, and evaluation; analysis and evaluation of manipulative movements; types of manipulators; Denavit-Hartenberg’s notation; fundamentals of direct kinematics; workspace analysis, trajectory planning; fundamentals of statics and dynamics: modeling, actions, equilibrium conditions; equation of motion; fundamentals of the regulation and control of the motion; types and functionality of grippers; grasp mechanics: modeling, actions, equilibrium conditions; mobile service robots: structures and operation; parallel architecture robots; service robots for medical applications: structures and operation; preparation of performance analysis reports of a robot.

INTEGRATED SENSORS

INTEGRATED SENSORS
1 YEAR (Block A|C)
2 YEAR (Block B)
1 semester 9 CFU
Corrado Di Natale A.Y. 2021-22
Corrado  Di Natale

Alexandro Catini

A.Y. 2022-23
Code: 8039927
SSD: ING-INF/01

LEARNING OUTCOMES:

To introduce the student to the modern sensors technologies and their major applications.

KNOWLEDGE AND UNDERSTANDING:

To make the student in condition to analyze the sensor performance and to design simple sensors’ interface circuit.

APPLYING KNOWLEDGE AND UNDERSTANDING:

Capability to select sensors for each specific application MAKING JUDGEMENTS:
Evaluate in the different contexts which are the most suitable sensors and evaluate the performance using standardized parameters set.

COMMUNICATION SKILLS:

Capability to write synthetic reports about the working principles of sensors

LEARNING SKILLS:

To learn how to solve sensors’ circuits in order to determine their performance and to optimally design sensor systems.

SYLLABUS:

Electronic properties of materials: semiconductors.

General properties of sensors;

Sensitivity and resolution.

Temperature sensors: thermistors, integrated sensors, thermocouples;
Mechanic sensors: Strain gauges: Introduction to MEMS: accelerometer, gyroscope, pressure and flow sensors;

Magnetic sensors;

Optical sensors: photodiodes and image sensors;

infrared sensors; interface circuits for resistive and capacitive sensors

INNOVATIVE MATERIALS WITH LABORATORY

INNOVATIVE MATERIALS WITH LABORATORY
1 YEAR 1 semester 6 CFU
TATA MARIA ELISA (1cfu)
COSTANZA GIROLAMO (1cfu)VARONE ALESSANDRA (4cfu)
A.Y. 2021-22

A.Y. 2022-23

Code: 8039786
SSD: ING-IND/21

LEARNING OUTCOMES:
The aim of the course is to provide an overview of novel materials recently developed and investigated for applications in mechanics, electronics, and mechatronics. Different types of materials are considered and described with particular attention on the preparation route, specific characteristics, and applications. Some of them are of basic importance for new technologies gaining increasing attention in industrial practice. The knowledge of innovative materials is strictly connected to the possibility and capability of designing new products.

KNOWLEDGE AND UNDERSTANDING:
Deep knowledge of the metallic structure and their mechanical behavior; in particular knowledge of innovative materials for mechatronics applications; selection of conventional material or not as a function of application, structure and properties.

APPLYING KNOWLEDGE AND UNDERSTANDING:
Ability to define materials properties and the most suitable production technologies for the components realization; Ability to perform tests in laboratory; Ability to define appropriate treatments in order to obtain the suitable mechanical properties as a function of service conditions. Ability to select innovative materials; ability to evaluate innovative materials properties.

MAKING JUDGEMENTS:
Ability to investigate, select and choose metallic materials as a function of the application.

COMMUNICATION SKILLS:
Clear and correct expression, in English language, skills on the topics covered in the course.

LEARNING SKILLS:

Ability to face a new problem, know how to manage it and find functional and correct solutions. learning ability will be evaluated by exam tests and laboratory activities.

SYLLABUS:

Amorphous alloys: production and applications of metallic glasses as mechatronic devices. Alloys with mixed structure (nanocrystalline and amorphous).

Ultrafine grained (UFG) materials: microstructural features and production routes.

Nanoporous and mesoporous materials: structural characterization and properties. Their applications for energy and gas storage.

Porous materials: metal foams, Open and closed porosity (micro and macro). Classification according to size and shape of the pores.

Properties (sound, energy and vibration absorption, crash behavior) and production methods. Functional and structural applications: lightweight construction, automotive. Metal sandwich structures.

Functional and Smart Materials. Property change as a response of external stimulus: shape memory alloy (one-way and two-way shape memory), thermochromic, photomechanical. Energy conversion:

piezoelectric, thermoelectric. Phase change materials. Applications: mechatronic, energy. Functionally graded materials.

Additive Manufacturing Technologies.

Advanced composite materials: properties, applications, and their production routes.