2019 | Kinematic Analysis and Synthesis of Robots

2019　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.): Mon3-4(S622)

Group: -

Course number: MEC.H532

Credits: 1

Academic year: 2019

Offered quarter: 3Q

Syllabus updated: 2019/9/17

Lecture notes updated: -

Language used: English

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Syllabus

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	Final examination	Written examination is done.

Textbook(s)

Original texts are provided.

Reference books, course materials, etc.

LUNG-WEN TSAI: ROBOT ANALYSIS, The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc., 1999, ISBN: 978-0-471-32593-2
Other references are uploaded in OCW-i.

Assessment criteria and methods

Learning achievement is evaluated by the final examination.

Related courses

MEC.I211 ： Robot Kinematics

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

Basic knowledge in kinematics, statics and dynamics of machinery in the undergraduate level is required.

TOKYO INSTITUTE OF TECHNOLOGY