2016 Kinematic Analysis and Synthesis of Robots

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Academic unit or major
Graduate major in Mechanical Engineering
Instructor(s)
Takeda Yukio 
Class Format
Lecture     
Media-enhanced courses
Day/Period(Room No.)
Thr5-6(S622)  
Group
-
Course number
MEC.H532
Credits
1
Academic year
2016
Offered quarter
2Q
Syllabus updated
2016/4/27
Lecture notes updated
-
Language used
Japanese
Access Index

Course description and aims

Methods for kinematic synthesis of robot mechanisms such as serial mechanisms and parallel mechanisms are introduced.
Students can learn advanced 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) Synthesize kinematic structures of robots in terms of their degrees of freedom
(2) Evaluate kinematic performances of robots in terms of their displacement, velocity and singularity characteristics
(3) Perform dimensional synthesis of robot mechanisms based on kinematic performance indices
(4) Obtain engineering senses for advanced design of robots

Keywords

Roborics, Kinematics, Serial Mechanism, Parallel Mechanism, Structural Synthesis, Dimensional Synthesis, Degree of Freedom, Performance Evaluation

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 preliminaly learn before the class. Each class is composed of theoretical explanation and practice.

Course schedule/Required learning

  Course schedule Required learning
Class 1 Classification of Robot Mechanisms and their Characteristics, Structures and Mobility Types of mechanisms used in robots and their characteristics are learned in terms of their structures and mobility.
Class 2 Structural Synthsis of Robot Mechanisms Methods to determine kinematic structures of robots in terms of mobility are learned.
Class 3 Displacement and Velicity Analysis of Robot Mechanisms Methods to analyze input-output relationship in displacement and velocity of robot mechanisms are learned.
Class 4 Singularity Analysis of Robot Mechanisms Types of singular configurations of robot mechanisms and thier characteristics are learned.
Class 5 Performance Evaluation and Dimensional Synthesis of Robot Mechanisms (Evaluation by Means of Jacobian Matrix) Methods of performance evaluation of robot mechanism by means of Jacobian matrix are learned.
Class 6 Performance Evaluation and Dimensional Synthesis of Robot Mechanisms (Evaluation of Motion Transmissibility of Parallel Mechanisms) Methods of performanace evaluation of parallel mechanisms by means of motion transmissibility are learned.
Class 7 Performance Evaluation and Dimensional Synthesis of Robot Mechanisms (Kinematic Synthesis) Methods of kinematic synthesis based on the methods leaened above are learned.
Class 8 Summary The contents are summarized through practices.

Textbook(s)

Original texts are provided.

Reference books, course materials, etc.

References are uploaded in OCW-i.

Assessment criteria and methods

Learning achievement is evaluated by the quality of the written reports.

Related courses

  • MEC.I211 : Robot Kinematics

Prerequisites (i.e., required knowledge, skills, courses, etc.)

None

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