2021 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()  
Group
-
Course number
MEC.H532
Credits
1
Academic year
2021
Offered quarter
3Q
Syllabus updated
2021/3/19
Lecture notes updated
-
Language used
English
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 Displacement and Velicity Analysis of Robot (1) Methods to analyze input-output relationship in displacement of robot mechanisms are learned.
Class 3 Displacement and Velicity Analysis of Robot (2) Methods to analyze input-output relationship in velocity of robot mechanisms are learned.
Class 4 Singularity Analysis of Robot Mechanisms (1) Types of singular configurations of robot mechanisms and thier characteristics are learned, specially focused on serial mechanisms.
Class 5 Singularity Analysis of Robot Mechanisms (2) Types of singular configurations of robot mechanisms and thier characteristics are learned, specially focused on parallel mechanisms.
Class 6 MechanismsStructural Synthsis of Robot Mechanisms Methods to determine kinematic structures of robots in terms of mobility are learned.
Class 7 Kinematic Performance Evaluation and Dimensional Synthesis of Robot Mechanisms Methods of kinematic performanace evaluation of robot mechanisms by means of Jacobian matrix and motion transmissibility 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)

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 practices/home work.

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.

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