Mechanism and Robot Kinematics

This course will be a foundation course in analysis of mechanisms and robots. After a brief introduction to the subject matter and terms, the audience will be introduced to kinematic analysis of planar constrained mechanisms, and closed and open chain robot manipulators. The course will dwell upon direct and inverse kinematics, velocity and acceleration analysis, kinematic motion generation, singularities in kinematic chains, principle of virtual work and force analysis, coordinate frames and transformations. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. This course will also pave way for more advanced courses on mechanism and robot dynamics and design.

INTENDED AUDIENCE:

• Mechanical
• Electrical
• Aerospace
• Bio-Medical Engineering

PREREQUISITES:

• Engineering Mechanics
• Undergraduate Mathematics

INDUSTRY SUPPORT :

• Automobile and Aerospace industries
• Automation and robotic device manufacturers
• Bio-Medical device manufacturers

COURSE LAYOUT

Week 1: Introduction to Mechanisms and Robotics, Mobility Analysis-I
Week 2: Mobility Analysis-II, Displacement Analysis: constrained mechanisms and robots-IWeek 3: Displacement Analysis: constrained mechanisms and robots-II
Week 4: Displacement Analysis: constrained mechanisms and robots- III, Velocity Analysis: constrained mechanisms and robots-I
Week 5: Velocity Analysis: constrained mechanisms and robots-II
Week 6: Velocity Analysis: constrained mechanisms and robots-III
Week 7: Velocity Analysis: singularity and path generation,Acceleration Analysis, Force Analysis-I
Week 8: Force Analysis-II, Coordinate Transformations and kinematics of serial robots