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.
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
|✔ Specialist skills||Intercultural skills||Communication skills||Critical thinking skills||Practical and/or problem-solving skills|
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|
|Class 1||Composition of Robots||Overall mechanical composition of robots and role of each component are learned.|
|Class 2||Mechanical Comonents of Robots||Roles of mechanical components of robots are concretely learned.|
|Class 3||Types of Robot Mechanisms (Serial Mechanisms)||Kinematic structures and characteristics of serial mechanisms used in robots are learned.|
|Class 4||Types of Robot Mechanisms (Parallel Mechanisms)||Kinematic structures and characteristics of parallel mechanisms used in robots are learned.|
|Class 5||Mobility of Robot Mechanisms (Mobility Criteria and Its Application)||Basic idea and forumation to analyze mobility of robot mechanisms are learned.|
|Class 6||Mobility of Robot Mechanisms (Number and Structural Syntheses)||Basic idea and procedure to determine concrete kinematic structures of robots in terms of mobility are learned.|
|Class 7||Displacement Analysis of Robot Mechanisms (Serial Mechanisms)||Basic idea and methods of displacement analysis of serial mechanisms are learned.|
|Class 8||Displacement Analysis of Robot Mechanisms (Parallel Mechanisms)||Basic idea and methods of displacement analysis of parallel mechanisms are learned.|
|Class 9||Velocity and Acceleration Analysis of Robot Mechanisms (Basic Concept)||Basic idea and methods of velocity and acceleration analysis of serial mechanisms and parallel mechanisms are learned.|
|Class 10||Velocity Analysis of Robot Mechanisms (Jacobian Matrix)||Basic idea and physical meaning of Jacobian matrix of mechanisms with multiple dof are learned.|
|Class 11||Force Analysis of Robot Mechanisms (Basic Principles)||Basic idea and methods of static force analysis of robot mechanisms based on the virtual work principle are learned.|
|Class 12||Force Analysis of Robot Mechanisms (Analysis Based on Virtual Work Principle and Singularity Analysis)||Methods of static force analysis of robot mechanism based on the Jacobian matrix are learned. Physical and mathematical meaning of singular configuration of robot mechanims are also learned.|
|Class 13||Types of Reduction Gears for Robots and Analysis of Gear Ratio||Basic characteristics of reduction gears used in robots are learned. Methods used in gear-ratio analysis of reduction gears are also learned.|
|Class 14||Types of Reduction Gears for Robots and Kinematic Design||Basic idea of kinematic design of reduction gears used in robots in terms of gear ratio are learned.|
|Class 15||Summary||The contents of the course are summarized.|
Kinematics of Machinery, JSME Text Series
Koichi Suzumori: Robot Kinematics, CORONA PUBLISHING CO.,LTD., ISBN:978-4-339-04571-0
Other references are uploaded in OCW-i.
Learning achievement is evaluated by final examination and practices.