ANALYTICAL METHODS IN SPATIAL MECHANISMS
FALL 2012
Have a nice semester!
INSTRUCTOR
Dr. Reþit Soylu ( A-208 / soylu@metu.edu.tr / 210 2561 )
ASSISTANT
Res. Assist. Sinem Gözde Defterli ( D-106 / defterli@metu.edu.tr / 210 5235)
TEXTBOOK
None.
REFERENCES
· Duffy, J., “ Analysis of Mechanisms and Robot Manipulators ”, J. Wiley, 1980.
· Hunt, K. H., “ Kinematic Geometry of Mechanisms ”, Oxford University Press, 1978.
WEBSITE
GRADING
Midterm Examination 30 points
Final Examination 40 points
Assignments ( ≈ 4 ) 20 points
Project 10 points
Class Participation 5 points
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Total 105 points ( Extra 5 % )
OVERVIEW
· Duffy’s theory and notation [ to automatically write down the translational and orientational loop closure equations of spatial mechanisms ].
· Basics of theory of elimination [ analytical tools for solving nonlinear algebraic equations ].
· Symbolic manipulation [ e.g., MATHEMATICA ].
· Systematic position analysis of one degree of freedom, single loop , spatial mechanisms.
· Inverse kinematics ( position analysis ) of robot manipulators via equivalent mechanisms.
· Homogeneous coordinates of points, lines and planes.
· Basics of screw algebra .
· Velocity and acceleration analysis of robots and spatial mechanisms via screw algebra.