ME 525

ANALYTICAL METHODS IN SPATIAL MECHANISMS

FALL 2012

 Have a nice semester!

 

INSTRUCTOR

 Dr. Reit Soylu ( A-208  /  soylu@metu.edu.tr  / 210 2561 )

ASSISTANT

Res. Assist. Sinem Gzde 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

http://www.me.metu.edu.tr/ME525

 

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

               Duffys 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.