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School of Engineering
- Undergraduate major in Mechanical Engineering
- Undergraduate major in Systems and Control Engineering
- Undergraduate major in Electrical and Electronic Engineering
- Undergraduate major in Information and Communications Engineering
- Undergraduate major in Industrial Engineering and Economics
- Common courses
- School of Materials and Chemical Technology
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- School of Life Science and Technology
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- 工学院，物質理工学院，環境・社会理工学院共通科目
- Liberal arts and basic science courses
- First-Year Courses
- School of Science
- School of Engineering
- School of Materials and Chemical Technology
- School of Computing
- School of Life Science and Technology
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School of Environment and Society
- Department of Architecture and Building Engineering
- Department of Civil and Environmental Engineering
- Department of Transdisciplinary Science and Engineering
- Department of Social and Human Sciences
- Department of Innovation Science
- Graduate major in Technology and Innovation Management
- Common courses
- Liberal arts and basic science courses
- Academic unit or major
- Undergraduate major in Mechanical Engineering
- Instructor(s)
- Suzumori Koichi
- Class Format
- Lecture
- Media-enhanced courses
- Day/Period(Room No.)
- Tue1-4(I124)
- Group
- B
- Course number
- MEC.I211
- Credits
- 2
- Academic year
- 2016
- Offered quarter
- 3Q
- Syllabus updated
- 2017/1/11
- Lecture notes updated
- -
- Language used
- Japanese
- Access Index
-
Course description and aims
Fundamental methods for kinematic analysis and synthesis of robots are introduced. Classification of robots and their applications are also introduced focusing on the kinematic structures and characteristics.
Students can learn fundamental ideas and methods of mechanism design of robots through theoretical explanations and practices.
Student learning outcomes
By the end of this course, students will be able to:
(1) Analyze basic kinematic structures of robots in terms of degrees of freedom
(2) Analyze relationship between input and output in displacement and velocity of basic robot mechanisms
(3) Know structures of basic reduction gears used as driving components of robots and calculate their reduction ratio
(4) Obtain basic engineering senses for designing robots
Keywords
Robotics, Kinematics of Machinery, Link Mechanism, Gear Mechanism, Displacement Analysis, Velocity Analysis, Degrees of Freedom, Structural Synthesis, Performance Evaluation, Dimensional Synthesis
Competencies that will be developed
| ✔ Specialist skills | Intercultural skills | Communication skills | Critical thinking skills | Practical and/or problem-solving skills |
Class flow
Students are required to prepare for a class using the textbook. Each class is composed of fundamental explanations by means of graphical and analytical approaches and practice.
Course schedule/Required learning
| Course schedule | Required learning | |
|---|---|---|
| Class 1 | Introduction to robot mechanisms | Basic concepts of mechanisms such as paris and DOF of motion are learned. |
| Class 2 | Introduction to planar linkage mechanisms | Basic concepts of planar mechanisms are concretely learned. |
| Class 3 | Theoretical analysis of planar linkage mechanisms | Theoretical analyses of planar linkage mechanisms are learned. |
| Class 4 | Numerical and graphical analysis methods of planar linkage mechanisms | Numerical and graphical analysis methods of planar linkage mechanisms are learned. |
| Class 5 | Static analysis of planar linkage mechanisms | Applying virtual work principle to multi dof system, static analysis methods of planar linkage mechanisms are learned. |
| Class 6 | Gear mechanisms | Basic ideas of gear mechanisms are learned. |
| Class 7 | Reduction gear mechanisms ifor robots | Mechanisms and characteristics of typical robot reduction gears are learned. |
| Class 8 | Synthesis of robot mechanisms | Synsyesis of robot mechanisms is learned .through examples. |
| Class 9 | Mechanisms of robot manipulatpr | Mechanisms of typical robot manipulators are learned. |
| Class 10 | Mechanisms of locomotion robot | Mechanisms of typical locomotion robots are learned. |
| Class 11 | Motion analysis of robots Mechanisms | Robot analysis methods using homogeneous transformation matrix are learned with planar robot manipulatos. |
| Class 12 | Robot analyses based on Jacobian matrix | Robot analyses using Jacoboan matrix are learned. |
| Class 13 | Motion analysis of robots Mechanisms | Analysis methods learned in the 12nd and 13rd classes are applied to 3-dimensional robots. |
| Class 14 | Recent R&D of robot mechanisms | Recent R&D of robot mechanisms are learned. |
| Class 15 | Robots and creatures | From a viewpoint of Robotics, mechanisms and working principles of robots and creatures are learned. |
Textbook(s)
Koichi Suzumori: Robot mechanisms, Koronasya, 2004 (in Japanese)
Reference books, course materials, etc.
Koichi Suzumori: Why do robots resemble creatures? Kodanasya, 2012 (in Japanese)
Assessment criteria and methods
Learning achievement is evaluated by final examination，reports and practices.
Related courses
- MEC.Q201 ： Introduction to Mechanical Systems
- MEC.Q301 ： Creative Design of Mechanical Systems
- MEC.H201 ： Machine Elements and Machine Drawing
- MEC.H211 ： Design of Machine Elements
- MEC.I333 ： Robot Dynamics and Control
- MEC.I334 ： Robot Technology
- MEC.H532 ： Kinematic Analysis and Synthesis of Robots
Prerequisites (i.e., required knowledge, skills, courses, etc.)
None
