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Syllabus Adv Mech

This document outlines the topics covered in an advanced mechanisms course. The course covers elements of mechanisms, mobility criteria, spherical mechanisms, advanced kinematics of plane motion including inflection circles and polodes of curvature. It also covers graphical and analytical methods of mechanism synthesis including four-bar linkages, function generation, and path generation. Additionally, the course covers manipulator kinematics using D-H notation and the kinematics, dynamics, and control of serial and industrial robot manipulators. Recommended textbooks are provided.

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Zakkula Yasodha
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174 views2 pages

Syllabus Adv Mech

This document outlines the topics covered in an advanced mechanisms course. The course covers elements of mechanisms, mobility criteria, spherical mechanisms, advanced kinematics of plane motion including inflection circles and polodes of curvature. It also covers graphical and analytical methods of mechanism synthesis including four-bar linkages, function generation, and path generation. Additionally, the course covers manipulator kinematics using D-H notation and the kinematics, dynamics, and control of serial and industrial robot manipulators. Recommended textbooks are provided.

Uploaded by

Zakkula Yasodha
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ADV ANCE D M EC H A NI SM S

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U ni t - I Introduction: Elements of Mechanisms; Mobility Criterion for Planar mechanisms and manipulators; Mobility Criterion for spatial mechanisms and manipulators. Spherical mechanismsspherical trigonometry. U ni t I I Advanced Kinematics of plane motion- I: The Inflection circle ; Euler Savary Equation; Analytical and graphical determination of di ; Bobilliers Construction ;Collineastion axis ; Hartmanns Construction ;Inflection circle for the relative motion of two moving planes; Application of the Inflection circle to kinematic analysis. U ni t - I I I Advanced Kinematics of plane motion - II: Polode curvature; Halls Equation; Polode curvature in the four bar mechanism; coupler motion; relative motion of the output and input links; Determination of the output angular acceleration and its Rate of change; Freudensteins collineation axis theorem; Carter Hall circle; The circling point curve for the Coupler of of a four bar mechanism. U ni t I V Introduction to Synthesis-Graphical Methods - I: The Four bar linkage ;Guiding a body through Two distinct positions; Guiding a body through Three distinct positions; The Rotocenter triangle ; Guiding a body through Four distinct positions; Burmesters curve. Uni t - V Introduction to Synthesis-Graphical Methods - II: Function generation- General discussion; Function generation: Relative rotocenter method, Overlays method, Function generationVelocity pole method; Path generation: Hroness and Nelsons motion Atlas, Robertss theorem. U ni t VI Introduction to Synthesis - Analytical Methods: Function Generation: Freudenstiens equation, Precision point approximation, Precision derivative approximation; Path Generation: Synthesis of Four-bar Mechanisms for specified instantaneous condition; Method of components; Synthesis of Four-bar Mechanisms for prescribed extreme values of the angular velocity of driven link; Method of components. U ni t VI I Manipulator kinematics I: D-H notation, D-H convention of assignment of co-ordinate frames and link parameters table;D-H transformation matrix ; Direct and Inverse kinematic analysis of Serial manipulators: Articulated ,spherical & industrial robot manipulators- PUMA, SCARA,STANFORD ARM, MICROBOT. U ni t VI I I Manipulator kinematics II: Differential kinematics Formulation of Jacobian for planar serial manipulators and spherical manipulator; Singularity analysis.

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Text Books: 1. Jeremy Hirschhorn, Kinematics and Dynamics of plane mechanisms,McGraw-Hill,1962. 2. L.Sciavicco and B.Siciliano, Modelling and control of Robot manipulators, Second edition , Springer -Verlag,London,2000. 3. Amitabh Ghosh and Ashok Kumar Mallik, Theory of Mechanisms and Machines. E.W.P.Publishers. Reference Books: 1. Allen S.Hall Jr., Kinematics and Linkage Design, PHI,1964. 2. J.E Shigley and J.J . Uicker Jr., Theory of Machines and Mechanisms , McGraw-Hill, 1995. 3. Mohsen Shahinpoor, A Robot Engineering Text book,Harper & Row Publishers, New York,1987. 4. Joseph Duffy, Analysis of mechanisms and Robot manipulators, Edward Arnold,1980

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