2016 Robot Kinematics

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Academic unit or major
Undergraduate major in Mechanical Engineering
Suzumori Koichi 
Class Format
Media-enhanced courses
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Offered quarter
Syllabus updated
Lecture notes updated
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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


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.


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.)


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