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2024　Robot Kinematics

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Academic unit or major
Undergraduate major in Mechanical Engineering
Instructor(s)
Takeda Yukio  Sugahara Yusuke 
Class Format
Lecture     
Media-enhanced courses
Day/Period(Room No.)
-
Group
-
Course number
MEC.I211
Credits
2
Academic year
2024
Offered quarter
3Q
Syllabus updated
2024/3/14
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, Link Mechanism, Gear Mechanism, Degrees of Freedom, Displacement Analysis, Velocity Analysis, Acceleration Analysis, Statics and Dynamics, Structural Synthesis, Dimensional Synthesis

Competencies that will be developed

✔ Specialist skills Intercultural skills Communication skills ✔ Critical thinking skills ✔ Practical and/or problem-solving skills
✔ Basic & advenced knowledge for mechanical engineering, applicability of basix knowledge for engineering problem solution

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 Composition of Robots, Mechanism and Motion of Robots Overall mechanical composition of robots and role of each component are learned. Mechanisms for robots and their motions are learned.
Class 2 Types and Characteristics of Mechanisms (Serial Mechanisms) Kinematic structures and characteristics of serial mechanisms used in robots are learned.
Class 3 Types and Characteristics of Mechanisms (Parallel Mechanisms) Kinematic structures and characteristics of parallel mechanisms used in robots are learned.
Class 4 Mobility of Mechanisms (Mobility Criteria and Its Application) Basic idea and formulation to analyze mobility of mechanisms are learned.
Class 5 Mobility of Mechanisms (Number and Structural Syntheses) Basic idea and procedure to determine concrete kinematic structures of mechanisms in terms of mobility are learned.
Class 6 Kinematics of Planar Mechanisms Basic idea and formulation to analyze the diaplacement, velocity and acceleration of a moving link and mechanism are learned.
Class 7 Displacement, Velocity and Accelaration Analysis of Planar Mechanisms (Serial Mechanisms) Basic idea and methods of displacement, velocity and acceleration analysis of serial mechanisms are learned.
Class 8 Displacement, Velocity and Accelaration Analysis of Planar Mechanisms (Parallel Mechanisms) Basic idea and methods of displacement, velocity and acceleration analysis of parallel mechanisms are learned.
Class 9 Kinematics of Gear Mechanisms and Analysis of Reduction Gears Basic characteristics of gear mechanisms are learned.
Class 10 Kinematics of Gear Mechanisms and Analysis of Reduction Gears Basic idea of kinematic analysis and design of reduction gears in terms of gear ratio are learned.
Class 11 Statics and Dynamics of Planar Mechanisms (Static Analysis) Basic idea and methods of static force analysis of mechanisms are learned.
Class 12 Statics and Dynamics of Planar Mechanisms (Static Analysis) Basic idea and methods of static force analysis of mechanisms are learned.
Class 13 Statics and Dynamics of Planar Mechanisms (Dynamic Analysis) Basic idea and methods of dynamic force analysis of mechanisms are learned.
Class 14 Statics and Dynamics of Planar Mechanisms (Design principle of precision mechanisms) Through static and dynamic analysis of planar mechanism with consideration to the dimension and friction of joints, basic idea and principle of precision mechanisms are learned

Out-of-Class Study Time (Preparation and Review)

To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.

Textbook(s)

Kinematics of Machinery, JSME Text Series

Reference books, course materials, etc.

References are uploaded in T2SCHOLA.

Assessment criteria and methods

Learning achievement is evaluated by practices/home work(40%) and the final examination(60%).
If the final examination cannot be done, homework report will be given.

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

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