Ⅰ. General Information
Course Code ( if applied ) | ROT41201P | ||||||||
Course Information ( for new course only ) | Mechanical engineering | Knowledge Domain | Mechanism Mechanics | ||||||
Total Class Hours | 32 | Credits | 2 | Lecture Hours | 0 | Laboratory Hours | 16 | Computer Lab Hours | 16 |
Course Title (in Chinese) | 机器人机构及运动设计实践 | ||||||||
Course Title (in English) | Practice of Robot Mechanism and Motion | ||||||||
Applicable Majors | Robot Engineering | ||||||||
Semester Available | The 6th | ||||||||
Prerequisites (Course Title) | Linear Algebra B (MAT11401T) Engineering Mechanics(MEE22204T)， Fundamentals of Mechanical Design (ROT21601E) Kinematics and Dynamics of Robot(ROT31201T) | ||||||||
Corequisites (Course Title) | None | ||||||||
Brief Course Description | The purpose of this practical course is to train students to comprehensively use the theoretical knowledge of robot mechanism kinematics and dynamics and other prerequisite courses to understand the basic structure of series manipulators, and to analyze the kinematics and dynamics of robot through Robotics Toolbox in Matlab. It will cultivate students' ability to solve practical engineering problems independently by using the knowledge they have learned and with the help of all kinds of materials. | ||||||||
Ⅱ.Curriculum Nature and Course Objectives
2.1 Curriculum Nature
Practice of Robot Mechanism and Motion is a compulsory practical course for Robot Engineering in colleges and universities.
2.2 Course Objectives
In the process of practice, by means of experimental operation and motion simulation, students combine their professional theoretical knowledge to carry out robot mechanism and motion analysis and practice. This can improve students' ability of robot motion analysis and solving practical problems, and lay a foundation for the design and analysis of follow-up robot motion control system. Through the study of this course, students are required to achieve the following goals:
G1-Select and preliminary design the robot mechanism according to the technical requirements of robot.
G2- Analyze the motion of robot mechanism through the comprehensive application of professional basic theoretical knowledge, so as to provide a theoretical basis for the follow-up motion control.
G3-Skillfully use the professional knowledge of robot mechanism movement and computer to design robot mechanism motion experiments and analyze the experimental results, which can guide further development and research of robot.；
G4-Be able towrite relevant experimental reports and technical documents on robot mechanism and motion issues, accurately express their views and experimental results, and communicate and cooperate with colleagues in robot industry.
Ⅲ. The Corresponding Relationship between Course Objectives and Graduation Requirements
Table 1. The Corresponding Relationship between Course Objectives and Graduation Requirements
First-level index point of Graduation requirements | Second-level index point of Graduation requirements | Course Objectives | The way to achieve | Evaluation basis | Degree of support (H, M, L) |
3. Design/develop solutions | 3.2 According to the specific needs, the development of mechanical design, mechanical manufacturing, control and other units (components) in the field of robot engineering can be finished. | G1 | Classroom teaching, Experimental research, Simulation | Class performance, Practice report | M |
4. Research | 4.1 Based on scientific principles, the solutions to complex engineering problems in the field of robot engineering, such as mechanical design, mechanical manufacturing, control and so on, can be investigated and analyzed through literature research or related methods. | G2 | Class performance, Practice report | H | |
4.4 The experimental results can be analyzed and explained, and reasonable and effective conclusions can be obtained through information synthesis. | G3 | Class performance, Practice report | M | ||
10. Communication | 10.1 On the professional issues, the views can be accurately expressed by oral, manuscripts, charts and other ways, the questions can be responded, and the differences between colleagues in the industry and the public during communication can be understood. | G4 | Class performance, Practice report | M |
H-Stands for “ High ” M-Stands for “ Medium ” L-Stands for “ Low ”
Ⅳ. Teaching Contents and Requirements for the Lecturing Part
None.
Ⅴ.Teaching Contents and Requirements for the Practical Part
5.1 Experiment on disassembly, assembly and mapping of 6-degree-of-freedom series manipulator (16 class hours)
5.1.1 Teaching Objectives (G1, G2, G3, G4)
-Master the basic structure of series manipulator, and be familiar with common mechanical structure and parts of robot.
- Be able to select and preliminary design the robot mechanism according to the technical requirements.
5.1.2 Teaching Contents
(1) Introduction to the 6-degree-of-freedom series manipulator
(2) Disassembly and assembly experiment of the manipulator
(3)Measurement of structural parameters of the manipulator
5.1.3 Teaching Requirements
Students should understand the working process and technical parameters of the 6-degree-of-freedom manipulator in the laboratory. Through the disassembly and assembly experiment of the manipulator, they should become familiar with the common mechanical structure and parts of robot, so as to master the basic structure of robot. At the same time, they should identify the motion forms of each joint of the manipulator and measure the structural parameters, in order to draw the structure diagram and transmission principle diagram of the manipulator.
5.2 Motion Simulation Analysis of 6-degree-of-Freedom Series manipulator (16 class hours)
5.2.1 Teaching Objectives (G1, G2, G3, G4)
- Master the theory of robot position-level kinematics.
- Master the method of robot motion simulation analysis by using Robotics Toolbox in Matlab.
5.2.2 Teaching Contents
(1) Modeling of the manipulator
(2) Forward and inverse kinematics analysis of the manipulator
(3) Workspace analysis of the manipulator
(4) Trajectory planning of the manipulator
5.2.3 Teaching Requirements
According to the mechanical and motion parameters of the 6-degree-of-freedom manipulator in the laboratory, the modeling, forward and inverse kinematics analysis, workspace analysis and trajectory planning of the 6-degree-of-freedom manipulator must be finished by using Robotics Toolbox in Matlab. Finally, the analysis report should be written according to the simulation results.
5.3Implement Ideological and Political Education in Curriculum (Included in practical activities)
The robot technology contains rich ideological and political elements such as scientific materialist dialectics, innovation and entrepreneurship, and national policies. In the classroom, on the one hand, we can stimulate students' patriotism and national pride and cultivate students' innovative thinking by publicizing to the students the achievements in the construction of our modern industrial system and the development of science and technology; On the other hand, through hands-on manipulator disassembly experiments, students are trained to study and pursue the perfect "craftsman spirit". At the same time, their labor habits and labor skills would be developed, and their all-round development of morality, intelligence, physique, art and labor would be promoted.
Ⅵ. Evaluation Standards
6.1 Evaluation Method and Contents
The evaluation method of the course should include the process assessment and the outcome assessment, and the final assessment of the course is the comprehensive evaluation of the process assessment and the outcome assessment. The assessment result is the basis to evaluate the achievement of the curriculum objectives.
Among them, according to the Measures for The Evaluation and Management of Undergraduate Course Achievement in Beijing University of Chemical Technology, the proportion of process assessment is not less than 30%. According to the actual situation of this course, the process assessment refers to classroom performance， which includes attendance, asking and answering questions, and experimental process. The outcome assessment is a practice report, which includes manipulator disassembly experiment and theoretical calculation and simulation.
The final evaluation of the course is based on the comprehensive evaluation of the process assessment and the practice report, and the final score is given in the alphabetical system of level 11.
The evaluation method and contents and their proportion are shown in Table 2.
Table 2. The evaluation method and contents and their proportion
Evaluation Method | Evaluation Method | Proportion | Main Assessment Contents |
Process Assessment（40%） | Attendance | 8% | Attendance or not, arrive on time or not, leave early or not |
Answering questions | 8% | Answer questions correctly or not. | |
Asking questions | 8% | Ask questions actively or not. | |
Experimental process | 16% | Actively participate and have their own opinions or not. | |
Outcome Assessment（40%） | Practice report | 60% | Master the main knowledge points that support the curriculum objectives or not. |
Evaluation method and contents and their supporting relationship with course objectives are shown in Table 3.
Table 3. Evaluation method and contents and their supporting relationship with course objectives
Course Objective | Score | Evaluation method | Weight | Main Assessment Content |
G1 | 20 | Classroom performance | 40% | Attendance, asking and answering questions, experimental process |
Practice report | 60% | Practical contents supporting course objective G1 | ||
G2 | 40 | Classroom performance | 40% | Attendance, asking and answering questions, experimental process |
Practice report | 60% | Practical contents supporting course objective G2 | ||
G3 | 20 | Classroom performance | 40% | Attendance, asking and answering questions, experimental process |
Practice report | 60% | Practical contents supporting course objective G3 | ||
G4 | 20 | Classroom performance | 40% | Attendance, asking and answering questions, experimental process |
Practice report | 60% | Practical contents supporting course objective G4 |
6.2 Scoring Criteria
The scoring criteria of classroom performance (including attendance and participation) and practice report are shown in Table 4 and Table 5.
Table 4. Scoring Criteria of Classroom Performance
Assessment Index | Weight | Excellent | Good | Medium | Poor |
Attendance | 0.20 | Attendance | Attendance | Attendance | Absence |
Question answering | 0.20 | Have a good grasp of basic concepts, principles, etc. | Have a general grasp of basic concepts, principles, etc. | Have a poor grasp of basic concepts, principles, etc. | Can’t answer question |
Question Asking | 0.20 | Actively participate and have their own opinions | Actively participate | Low participation | No participation |
Experimental Process | 0.40 | Actively participate and has unique analytical conclusions. | Actively participate and have unique experimental conclusions. | Low participation, complete the experiment. | Low participation, basically complete the experiment. |
Table 5. Scoring Criteria of Practice Report
Assessment Index | Weight | Excellent | Good | Medium | Poor |
The integrity of experiment | 0.50 | Express more clearly and completely | Express clearly and completely | The expression is basically clear and complete. | The expression is not clear or complete. |
Analysis | 0.30 | Accurate calculation and correct analysis | There is no error in calculation. | There are fewer calculation errors. | There isno calculation and analysis. |
Discussion | 0.20 | There is a more in-depth discussion on the experimental results. | The experimental results are discussed, but the discussion is not thorough. | There is little discussion on the experimental results. | No discussion. |
Ⅶ.Textbooks and Recommended References
7.1 Textbook
Yang Chenguang etc. Robot Simulation and Programming Technology. Beijing: Tsinghua University Press, 2018.
7.2 References
[1] PeterCorke, Robotics, Vision and Control-Fundamental Algorithms in MATLAB. Bejing: Publishing House of Electronics Industry, 2016.
[2] John J. Craig, Introduction to Robotics．Beijing: China Machine Press, 2017.
Written by Kang Jingxin
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