Course Code: 4364102

GUJARAT TECHNOLOGICAL UNIVERSITY (GTU)

Competency-focused Outcome-based Green Curriculum-2023 (COGC-2023)

Semester-VI

Course Title: Robotic Arm Manipulator

(Course Code: 4364102)

Diploma programmer in which this course is offered Semester in which offered

Automation and Robotics 6th

1. RATIONALE

The increasing demand for automation and robotics in various industries has created a
need for skilled technicians who can design, build, and operate robotic arm manipulators.
This diploma-level course aims to provide students with the theoretical and practical
knowledge required to work with robotic arm manipulators. Students will learn about the
fundamentals of robotics, mechanical and electrical systems, control systems, and
programming languages. Upon completion, graduates will be equipped to work in
industries such as manufacturing, healthcare, and logistics, and contribute to the
development of efficient and automated systems.

2. COMPETENCY

The course content should be taught and implemented with the aim to develop required
skills in the students so that they are able to acquire following competency:

● Install, maintain and troubleshoot various networks and protocols used for
communication in instrumentation.

1. COURSE OUTCOMES (COs)

The theory should be taught and practical should be performed in such a manner that
students are able to acquire required learning outcomes in cognitive, psychomotor and
affective domain to demonstrate following course outcomes:

CO1 Identify Industrial robots & its types

CO2 List various robot components and sensors.
CO3 Identify and select various grippers and understand various steps in
assembling process
CO4 To understand about various robot simulator and application software
CO5 To understand various robot arm manipulator application and maintenance
process.

4. TEACHING AND EXAMINATION SCHEME

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Teaching Scheme Total Credits Examination Scheme

(In Hours) (L+T+P/2) Theory Marks Practical Marks Total
L T P C CA ESE CA ESE Marks
3 0 2 5 30 70 25 25 150
Legends: L-Lecture; T – Tutorial/Teacher Guided Theory Practice; P -Practical; C – Credit ESE -End
Semester Examination; CA – Continuous Assessment.

5. SUGGESTED PRACTICAL EXERCISES:

The following practical outcomes (PrOs) that are the sub-components of the CO’s. Some
of the PrO’s marked ‘*’ are compulsory, as they are crucial for that particular CO at the ‘Precision
Level’ of Dave’s Taxonomy related to ‘Psychomotor Domain’.
Approx.
S. Unit
Practical Outcomes (PrOs) Hrs.
No. No.
required
1 Recognize & comply safe working practices in robotic arm manipulator 4 2Hrs
2 To test the working of servo motor with reference to robot arm. 2 2Hrs
3 Identify and explain various types of Industrial Robots and perform their 3 4Hrs
configuration
4 Identify the Robotic Cell Components & Application tools 1 2Hrs
5 To test the operation of external robot sensor. 2 2Hrs
6 To test the operation of internal robot sensor. 2 2Hrs
7 Identify and select various grippers and understand various steps in 2 2Hrs
assembling process of robot arm.
8 To study about robotic Coordinate system 2 4Hrs
9 Perform Importing, Exporting & Selection of robotic program 4 4Hrs
10 Perform Interfacing of work piece holding Grippers in Robot 3 2Hrs
11 Perform installation check of robot mechanically and Electrically 3 2Hrs
12 Power on the Robot and making the cell Healthy for programming 3 2Hrs
13 Perform Jogging of the industrial robot using virtual programming 4 2Hrs
pendant
14 Identify the Industrial Robot simulation tool/ software 4 2Hrs
15 Explain the industrial need of robotic programming Simulation 5 2Hrs
16 To study about Maintenance and troubleshooting techniques in robot 5 2Hrs
model
17 Run the existing program with manual mode. 4 4Hrs

Note:
i. More Practical Exercises can be designed and offered by the respective course teacher to
develop the industry relevant skills/outcomes to match theCOs.The above table is only a
suggestive list.
ii. The following are some sample ‘Process’ and ‘Product’ related skills(more may be
added/deleted depending on the course) that occur in the above listed Practical Exercises of
this course required which are embedded in the COs and ultimately the competency.

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S. No. Sample Performance Indicators for the PrOs Weightage in %

1 Prepare experimental setup 20
2 Operate the equipment setup or circuit 20
3 Follow safe practices measures 10
4 Record observations correctly 20
5 Interpret the result and conclude 30
Total 100

6. MAJOR EQUIPMENT/ INSTRUMENTS REQUIRED

Sr. No. Equipment Name with Broad Specifications PrO. No.

1 Servo motor tester

2 Industrial robot model

3 Various sensors to be attached in robot

4 Robotics Operating system

7. AFFECTIVE DOMAIN OUTCOMES

The following sample Affective Domain Outcomes (ADOs) are embedded in many of the above-
mentioned COs and PrOs. More could be added to fulfil the development of this competency.
a) Work as a leader/a team member for assigned student activity.
b) Follow safety practices and procedure in Lab.
c) Realize the importance of engineering for societal development.
d) Develop gradually the engineering mindset in day-to-day observation.

8. UNDERPINNING THEORY:
Unit Unit Outcomes (UOs) Topics and Sub-topics

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Unit – I - Define the term "robotics" and 1.1. Introduction to Robotics and Robotic
Introduction explain its significance in modern Arm Manipulators
to Robotic industry -Types of Robotic Manipulators: Basic
Arm - Describe the basic concepts and classification based on structure, mobility,
Manipulators principles of robotics and function.
- Identify the key differences between -Challenges in Robotic Arm Design: Issues
robotics and automation such as precision, stability, and control in
- Classify robotic arm manipulators
manipulator systems.
into industrial, medical, and service
1.2. Types of Robotic Arm Manipulators
categories
(Industrial, Medical, and Service)
- Describe the characteristics and
applications of each type of robotic -Industrial Robotic Arms: Characteristics,
arm manipulators uses in manufacturing, and automation
- Explain the advantages and processes.
limitations of each type -Medical Robotic Arms: Robotic surgery,
- Identify various applications of rehabilitation, and assistive devices in
robotic arm manipulators in industries healthcare.
such as manufacturing, healthcare, -Service Robotic Arms: Robots used in
and logistics customer service, hospitality, and logistics.
- Identify and describe the basic -Comparison of Types of Robotic Arms:
components of a robotic arm Advantages and limitations of each type in
manipulator, including sensors, their respective fields.
actuators, and controllers 1.3. Applications of Robotic Arm
- Explain the functions and Manipulators
interactions of these components
-Manufacturing and Automation: Robotic
arms in assembly lines, packaging, and
material handling.
-Medical Applications: Robotic-assisted
surgery, diagnostics, and prosthetics.
Agriculture: Use of robotic arms for
planting, harvesting, and processing crops.
-Space Exploration: Robotic arms in
spacecraft for maintenance and exploration
tasks.
1.4. Basic Components of a Robotic Arm
Manipulator (Sensors, Actuators, and
Controllers)

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Unit – II - Identify and describe different types 2.1. Types of Joints and Linkages
Robot Arm of joints (e.g., revolute, prismatic, -Revolute Joints: Rotational movement,
Control System spherical) and linkages (e.g., serial, applications, and limitations.
& Sensors parallel, hybrid) -Prismatic Joints: Linear motion, use cases,
(14Hrs) - list the advantages and limitations and design considerations.
of different joint and linkage -Spherical and Universal Joints: Applications
configuration in robotic arms that require multi-axis
- Identify and compare different types rotation.
of actuators (e.g., motors, cylinders, -Serial vs. Parallel Linkages: Comparison of
pumps) linkage systems for different manipulator
- list the advantages and limitations of designs.
different gear and transmission 2.2. Actuation Systems (Electric)
configurations -Electric Actuators: Characteristics,
- Identify and describe different types advantages, and typical applications in
of end-effectors (e.g., grippers, robotics.
suction cups, tool changers) -Comparison of Actuation Systems:
-list the advantages and limitations of Evaluating the performance, cost, and
different end-effector designs energy requirements of each actuation
type.
2.3. Gear Systems and Transmission
Mechanisms
-Gear Types (Spur, Helical, and Planetary
Gears): Their roles in transmitting motion
and torque in robotic systems.
-Transmission Mechanisms: Belt, chain, and
shaft drive systems used in robotic arms.
-Gear Reduction and Speed Control:
Importance in controlling precision and
torque.
-Torque and Power Transmission Efficiency:
How gear systems optimize performance in
robotic manipulators.
2.4. End-effectors and Grippers
-Types of End-effectors: Tools like welding
torches, screwdrivers, or drills used for
specific tasks.
-Gripper Types: Mechanical, vacuum, and
magnetic grippers, and their applications.
-Custom End-effectors: Designing end-
effectors for specialized tasks like assembly,
inspection, or medical procedures.
-Sensor Integration in End-effectors: Using
sensors for feedback and improving
grasping force or precision in robotic tasks.

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Unit – III - Define the concept of control 3.1. Introduction to Control Systems
Control Systems systems and their importance in -Definition and Importance of Control
for Robotic Arm robotic arm manipulators Systems: Overview of control systems and
Manipulators - Identify the types of control systems their role in automation.
used in robotic arm manipulators -Basic Components of a Control System:
- Distinguish between open-loop and Understanding sensors, controllers, and
closed-loop control systems actuators.
- Identify applications of open-loop -Control Systems in Robotics: How control
and closed-loop control systems in systems help in managing robotic
robotic arm manipulators movements and behaviours.
- Explain the principles of feedback 3.2. Types of Control Systems (Open-loop
systems and their importance in and Closed-loop)
control system. Open-loop Control Systems: Characteristics,
- Analyze the advantages and advantages, and limitations in robotics.
limitations of each control algorithm Closed-loop Control Systems: How feedback
- Apply PID and on/off control is used for real-time adjustments and more
algorithms to simple control systems accurate control.
in robotic arm manipulators Comparison of Open-loop and Closed-loop
Systems: When to use each type in different
robotic applications.
3.3. Sensors and Feedback Systems
-Role of Sensors in Feedback Systems: How
sensors provide essential data for control
algorithms.
-Types of Sensors Used in Robotics:
Examples include position, velocity, force,
and proximity sensors.
-Feedback Loops: How continuous data
from sensors help fine-tune robotic
movements and actions.
-Sensor Integration Challenges: Issues
related to accuracy, noise, and sensor fusion
in complex systems.
3.4. Basic Control Algorithms (PID and
On/Off Control)
-PID Control Algorithm: Explanation of
Proportional, Integral, and Derivative
control and its application in robotics.
-Tuning PID Parameters: Methods for
adjusting PID gains to achieve optimal
performance.

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Unit – IV - Identify and describe the basic 4.1. Introduction to Programming

Programming features of programming languages Languages (C, Python, and PLC)
and Operation such as C, Python, and PLC -C Programming for Robotics: Low-level
of Robotic Arm - Write simple programs using C, control, memory management, and real-
Manipulators Python, and PLC time applications.
- Explain the concept of graphical user -Python in Robotics: High-level scripting for
interfaces (GUIs) in programming automation, sensor integration, and data
robotic arm manipulators processing.
- Identify and describe different GUIs -PLC (Programmable Logic Controllers) in
used in robotic arm manipulators Robotics: Industrial control, sequence
- Explain the concept of teach control, and its role in robotic arm
pendants in operating robotic arm programming.
manipulators 4.2. Programming a Robotic Arm
- Identify and describe the basic Manipulator Using a Graphical User
components of a teach pendant Interface
- Identify and describe safety -Overview of Graphical User Interfaces
precautions when working with (GUIs): How GUIs simplify programming for
robotic arm manipulators users without extensive coding knowledge.
- Troubleshoot common problems in -Programming Software for Robotic Arms:
robotic arm manipulators using Examples of software like RoboDK, VEX
logical and methodical approaches Robotics, and others that enable GUI-based
programming.
-Creating Movement Sequences via GUI:
Programming robot arm motions using
drag-and-drop actions and visual tools.
4.3. Operating a Robotic Arm Manipulator
Using a Teach Pendant
-Teach Pendant Overview: Functionality of
teach pendants in programming and
operating robotic arms.
-Manual and Automatic Mode: Switching
between manual mode for teaching
positions and automatic mode for
execution.
4.4. Safety Precautions and Troubleshooting
-Safety Standards and Protocols:
International safety guidelines, such as ISO
10218 and OSHA regulations, for operating
robotic arms.
Emergency Stop Mechanisms: Importance
of having physical and software-based
emergency stop features.
Troubleshooting Techniques: Step-by-step
approaches for diagnosing and fixing
common robotic arm problems.

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Unit – V - Identify and describe various 5.1. Industrial Applications of Robotic Arm
Applications industrial applications of robotic arm Manipulators
and manipulators (e.g., welding, -Assembly Line Automation: Use of robotic
Maintenance of assembly, material handling) arms in mass production for tasks like
Robotic Arm - Explain the benefits and advantages welding, screwing, and component
Manipulators of using robotic arm manipulators in placement.
industrial settings -Material Handling and Packaging: Robotic
- Analyze case studies of successful arms in sorting, packing, and transporting
industrial applications of robotic arm goods in warehouses and factories.
manipulators -Precision Manufacturing: Robotic arms
- Identify and describe various used in high-precision tasks such as
medical and service applications of electronics assembly and automotive
robotic arm manipulators (e.g., manufacturing.
surgery, rehabilitation, service 5.2. Medical and Service Applications of
robotics) Robotic Arm Manipulators
- Explain the benefits and advantages -Robotic Surgery: The role of robotic arms in
of using robotic arm manipulators in minimally invasive surgery, such as the Da
medical and service settings Vinci Surgical System.
- Analyze case studies of successful -Rehabilitation Robotics: Robotic arms used
medical and service applications of for physical therapy and assistive devices to
robotic arm manipulators aid in patient recovery.
- Identify and describe common -Medical Diagnostics: Use of robotic arms in
maintenance tasks for robotic arm laboratories for sample handling, testing,
manipulators (e.g., cleaning, and analysis.
lubrication, software updates) 5.3. Maintenance and Troubleshooting
- Explain the importance of Techniques
troubleshooting in maintaining -Routine Maintenance of Robotic Arms:
robotic arm manipulators Preventive measures like cleaning,
- Develop a maintenance schedule lubrication, and calibration to ensure
and troubleshooting plan for a robotic optimal performance.
arm manipulator -Diagnosing and Fixing Common Failures:
- Identify and describe emerging Troubleshooting issues such as power
trends and developments in robotic failure, actuator malfunction, or software
arm manipulators (e.g., collaborative bugs.
robots, artificial intelligence, IoT -Troubleshooting Techniques: Methods for
integration) diagnosing sensor issues, actuator faults,
- Explain the potential impact of these and communication errors.
trends on industries and society 5.4. Future Trends and Developments in
- Discuss the challenges and Robotic Arm Manipulators
opportunities associated with the -Artificial Intelligence and Machine
future development of robotic arm Learning: How AI is being integrated into
manipulators robotic arms for enhanced autonomy,
decision-making, and adaptive learning.
-Collaborative Robots (Cobots): The rise of
robots designed to work alongside humans
in shared workspaces, enhancing safety and
productivity.

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9. SUGGESTED SPECIFICATION TABLE FOR QUESTIONPAPER DESIGN:

Unit Unit Title Teaching Distribution of Theory Marks
No. Hours R U A Total
Level Level Level Marks
I Introduction to Robotic Arm
6 4 6 4 14
Manipulators
II Robot Arm Control System & Sensors 8 4 4 6 14
III Control Systems for Robotic Arm
8 6 4 4 14
Manipulators
IV Programming and Operation of Robotic
10 4 4 6 14
Arm Manipulators
V Applications and Maintenance of
10 4 6 4 14
Robotic Arm Manipulators
Total 42 22 24 24 70
Legends: R=Remember, U=Understand, A=Apply and above (Revised Bloom’s taxonomy)
Note: This specification table provides general guidelines to assist student for their learning and
to teachers to teach and question paper designers/setters to formulate test items/questions
assess the attainment of theUOs. The actual distribution of marks at different taxonomy levels (of
R, U and A) in the question paper may vary slightly from above table.

10. SUGGESTED STUDENT ACTIVITIES

Other than the classroom and laboratory learning, following are the suggested student-
related co-curricular activities which can be undertaken to accelerate the attainment of the
various outcomes in this course: Students should conduct following activities in group and
prepare reports of about 5 pages for each activity, also collect/record physical evidences for their
(student’s) portfolio which will be useful for their placement interviews:

1. Design and Build a Robotic Arm: Divide students into teams and ask them to design and build a
robotic arm using everyday materials like cardboard, motors, and sensors. This activity
encourages creativity, problem-solving, and hands-on learning.
2. Programming Challenge: Provide students with a robotic arm simulator or a real robotic arm
and challenge them to program it to perform a specific task, such as picking and placing objects.
This activity develops programming skills and problem-solving abilities.

3. Case Study Presentation: Assign students a case study of a company that uses robotic arm
manipulators in their production process. Ask them to research and present on the benefits,
challenges, and future prospects of using robotic arm manipulators in that industry.

4. Robotics Arm Manipulator Scavenger Hunt: Create a scavenger hunt that requires students to
find and identify different components of a robotic arm manipulator, such as motors, sensors,
and control systems. This activity encourages active learning and familiarizes students with the
hardware components.

5. Group Discussion: Ethics and Safety: Organize a group discussion on the ethics and safety
considerations of using robotic arm manipulators in various industries. Ask students to consider

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questions like "What are the potential risks and benefits of using robotic arm manipulators?" and
"How can we ensure the safe operation of robotic arm manipulators?"

6. Project-Based Learning: Automated Work cell: Divide students into teams and ask them to
design and propose an automated work cell that incorporates a robotic arm manipulator. The
work cell should perform a specific task, such as assembly or inspection. This activity encourages
students to apply theoretical knowledge to real-world problems and develop problem-solving
skills.
11. SUGGESTED SPECIAL INSTRUCTIONAL STRATEGIES
Following Sample strategies teacher can use to accelerate the attainment of the various
outcomes in this course:
a) Inspire Student to read books on development and evolution of industrial robot &
its application.
b) Prepare a short note on applications of programming languages.
c) Guide students to make presentation on applications of Robot arm manipulator
d) List out various models used in data communications along with their advantages
and limitations.
e) Guide students to make presentation on applications of Robot.

12. SUGGESTED PROJECT LIST:

NA

13. SUGGESTED LEARNING RESOURCES

S. Publication with place, year and
Title of Book Author
No. ISBN
1 1. “Introduction to Robotics S.K. Shah
2 2. Robotics: Theory and 2nd ed; Larry Ross Stephen Fardo; Goodheart-Willcox
Industrial Applications (2011).
3 3. Mikell.P.Groover Mitchell Weiss Roger.N.Nagel
4 Publishing Company Limited New Delhi Third Reprint 2008

6 9. Implementation of ROBOT automation and successful systems integration

SYSTEMS An introduction to in manufacturing by MIKE WILSON
robotics

14. SOFTWARE/LEARNING WEBSITES:

i. V-REP
ii. Gazebo
iii. RoboDK
iv. Webots
v. ROBOguide
vi. Robostudio

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15. PO-COMPETENCY-CO MAPPING:

Semester V Robotic Arm Manipulator

POs
Competency PO 5
PO 3 PO 4
PO 1 Basic Engineering
& Course Outcomes PO 2 Design/ Engineering PO 6 PO 7
& Discipline practices for
Problem developme Tools, Project Life-long
specific society,
Analysis nt of Experiment- Management learning
knowledge sustainability &
solutions ation &Testing
environment
Maintain various types of A.C. machines and three -phase
Competency
transformers safely.
Identify Industrial
robots & its types 3 3 1 3

List various robot

components and 3 3 1 2
sensors.
Identify and select
various grippers and
understand various 3 2 2 1 3
steps in assembling
process
To understand about
various robot
2 2 1 2 1 3
simulator and
application software
To understand
various robot arm
manipulator
2 3 1 2 1 3
application and
maintenance
process.
Legend: ‘3’ for high, ‘2’ for medium, ‘1’ for low and ‘-’ for no correlation of each CO with PO.

16. COURSE CURRICULUM DEVELOPMENT COMMITTEE

Member – Board of Studies (GTU), Electrical and Allied branches
Prof. Suresh Z. Shyara, IC Engineering, AVPTI, Rajkot
Prof. Mahesh J. Vadhavaniya, IC Engineering, Government Polytechnic, Palanpur
Prof. Parth S Thaker, IC Engineering, Government Polytechnic, Gandhinagar
GTU Resource Persons
Sr.
Name and Designation Institute Contact No. Email
No.
1. Prof. Amit L Pandya G P Gandhinagar 9712082040 [email protected]

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