2021 Special Lecture in MEC M1F

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Academic unit or major
Graduate major in Mechanical Engineering
Takeda Yukio 
Class Format
Media-enhanced courses
Day/Period(Room No.)
Intensive ()  
Course number
Academic year
Offered quarter
Syllabus updated
Lecture notes updated
Language used
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Course description and aims

This lecture is related to mechanism design of mechanical systems. In order to learn the versatile knowledge about describing and analyzing the design of complex mechanisms, the properties and types of different mechanisms will be taught. Methods to define and to describe a motion task for the design process will be provided.

Student learning outcomes

The students know different catalogues for analyzing mechanisms for different criteria. This catalogue contains analyzing steps for planar and spherical mechanisms. Part of this is the mathematical description of velocities, accelerations and forces for mechanical links and between different elements of the mechanism. The students are also able to check the mechanism properties in relation to its coupler curve and its curvature.


Mechanical Engineering, Kinematics, Mechanisms, Design, Statics, Dynamics

Competencies that will be developed

Specialist skills Intercultural skills Communication skills Critical thinking skills Practical and/or problem-solving skills

Class flow

The lectures are given by Prof. Burkhard Corves, as a guest lecturer invited from RWTH Aachen University together with the corresponding instructor, Prof. Yukio Takeda.
Students are required to self-study the contents prior to the class using the supplementary material. Based on this, homework problem is given and then, evaluation is done at the final home work.

Course schedule/Required learning

  Course schedule Required learning
Class 1 Introduction & Fundamentals Introduction and application, four-bar linkage, basics of calculations
Class 2 Structural Synthesis Motion tasks and structural synthesis, guidance mechanism
Class 3 6-bar Linkages Six-bar linkages, Watt's chain, Stephenson's chain, Convertible Roof Tops
Class 4 5-bar Linkages and Roberts/Chebyshev Theorem Five-bar linkages, fundamentals, applications, Roberts/Chebyshev Theorem
Class 5 Poles and Theory of Curvature Poles and Theory of Curvature, Aronhold-Kennedy Theorem, Centrodes, Euler-Savary Theorem, Bobilloer Theorem
Class 6 Forces and Torques Forces and Torques, Fundamentals, Conditions of equilibrium, pole force method, friction forces, application example
Class 7 Dwell Mechanisms Dwell mechanisms, fundamentals, linkage dwell mechanisms, coupler cirve based dwell mechanism dead center based dwell mechanisms
Class 8 Spherical Mechanisms Spherical trigonometry, spherical four-bar linkages, position analysis, examples


Original hand-outs are provided.

Reference books, course materials, etc.

References are uploaded in OCW-i.

Assessment criteria and methods

Learning achievement is evaluated at the final home work.

Related courses

  • MEC.I211 : Robot Kinematics
  • MEC.H532 : Kinematic Analysis and Synthesis of Robots
  • MEC.H435 : Machine Dynamics of Rigid Systems

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


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