- 開講元
- 機械コース
- 担当教員名
- 武田 行生
- 授業形態
- 講義
- メディア利用科目
- 曜日・時限(講義室)
- 集中講義等
- クラス
- -
- 科目コード
- MEC.N432
- 単位数
- 1
- 開講年度
- 2021年度
- 開講クォーター
- 3-4Q
- シラバス更新日
- 2021年9月21日
- 講義資料更新日
- -
- 使用言語
- 英語
- アクセスランキング
-
media
講義の概要とねらい
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.
到達目標
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.
キーワード
Mechanical Engineering, Kinematics, Mechanisms, Design, Statics, Dynamics
学生が身につける力(ディグリー・ポリシー)
| ✔ 専門力 | 教養力 | コミュニケーション力 | ✔ 展開力(探究力又は設定力) | ✔ 展開力(実践力又は解決力) |
授業の進め方
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.
授業計画・課題
| 授業計画 | 課題 | |
|---|---|---|
| 第1回 | Introduction & Fundamentals | Introduction and application, four-bar linkage, basics of calculations |
| 第2回 | Structural Synthesis | Motion tasks and structural synthesis, guidance mechanism |
| 第3回 | 6-bar Linkages | Six-bar linkages, Watt's chain, Stephenson's chain, Convertible Roof Tops |
| 第4回 | 5-bar Linkages and Roberts/Chebyshev Theorem | Five-bar linkages, fundamentals, applications, Roberts/Chebyshev Theorem |
| 第5回 | Poles and Theory of Curvature | Poles and Theory of Curvature, Aronhold-Kennedy Theorem, Centrodes, Euler-Savary Theorem, Bobilloer Theorem |
| 第6回 | Forces and Torques | Forces and Torques, Fundamentals, Conditions of equilibrium, pole force method, friction forces, application example |
| 第7回 | Dwell Mechanisms | Dwell mechanisms, fundamentals, linkage dwell mechanisms, coupler cirve based dwell mechanism dead center based dwell mechanisms |
| 第8回 | Spherical Mechanisms | Spherical trigonometry, spherical four-bar linkages, position analysis, examples |
教科書
Original hand-outs are provided.
参考書、講義資料等
References are uploaded in OCW-i.
成績評価の基準及び方法
Learning achievement is evaluated at the final home work.
関連する科目
- MEC.I211 ： ロボット機構学
- MEC.H532 ： ロボット総合論
- MEC.H435 ： 剛体系の動力学
履修の条件(知識・技能・履修済科目等)
Nothing
