The goal of this course is to introduce the student to concepts in design of robotic elements. The topics will cover recent developments in the field of robotics (i.e. focusing on current research such as magnetic, soft material and bio-inspired robots).|
The course will have both descriptive and technical elements, and will focus on biomedical applications. We will discuss methods of analysis, choice of method of actuation, evaluation/verification of design and fabrication/prototyping.
The course will provide practical knowledge for the mechanical design and analysis of robotic systems, particularly with flexible components.
At the end of this course, the student should be able to:
- analyze and design simple mechanical robotic systems for specific applications
- calculate load-deflection behavior of different types of flexible robotic elements
- use computational software for verification
- understand various medically-relevant methods of actuation
- develop a working knowledge of fabrication methods, including biocompatibility.
The course will cover basic concepts in robot mechanics such as statics and kinematics of serial chain robots and mechanisms.|
The use of software to model such systems will also be demonstrated. Mechanical aspects of robotic systems will be analyzed using Finite Element software, along with methods of theoretical analysis using energy methods.
The use of flexible elements and soft materials within robots will be detailed. Actuation modalities for medical applications (cable-driven, magnetic fields, pneumatics) will be discussed.Methods of fabrication and prototyping using a range of materials will be examined.
Assignments will focus on modeling, analysis and design of robotic systems for biomedical application. Quizzes will focus on conceptual learning of topics covered in lectures and tutorials.