COURSE UNIT TITLE

: DYNAMICS OF MECHANICAL SYSTEMS

DEGREE PROGRAMMES

Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS
MEE 5013 DYNAMICS OF MECHANICAL SYSTEMS ELECTIVE 3 0 0 7

Offered By

Graduate School of Natural and Applied Sciences

Level of Course Unit

Second Cycle Programmes (Master's Degree)

Course Coordinator

PROFESSOR AYŞE SAIDE SARIGÜL

Offered to

Machine Theory and Dynamics
Machine Theory and Dynamics

Course Objective

Robot manipulators are today's principal dynamical systems, used in a large number of applications ranging from machine-tool industry to flight simulators. This course is devoted to present both fundamental and advanced topics on the kinematics, statics and dynamics of robot manipulators. Both serial and parallel manipulators are covered in depth. The course emphasizes computational aspects of robot analysis.

Learning Outcomes of the Course Unit

1   Solving position problems of serial and parallel manipulators.
2   Distinguishing Jacobians of manipulators.
3   Solving velocity problems of serial and parallel manipulators.
4   Analysing singularity conditions of serial and parallel manipulators.
5   Analysing statics and stiffness properties of serial and parallel manipulators.
6   Analysing dynamic properties of serial and parallel manipulators.

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description
1 Introduction Classification of Robots, Position, Orientation and Location of a Rigid Body, Homogeneous Transformations, Several Reference Frames
2 Position Analysis of Serial Manipulators Link Parameters and Link Coordinate Systems, Denavit-Hartenberg Homogeneous Transformation Matrices, Loop-Closure Equations, Other Coordinate Systems, Denavit-Hartenberg Method, Method of Successive Screw Displacements.
3 Position Analysis of Parallel Manipulators Structure Classification of Parallel Manipulators, Denavit-Hartenberg Method versus Geometric Method, Position Analysis of Different Types of Parallel Manipulators.
4 Jacobian Analysis of Serial Manipulators Differential Kinematics of a Rigid Body, Differential Kinematics of Serial Manipulators, Screw Coordinates and Screw Systems, Manipulator Jacobian Matrix.
5 Jacobian Analysis of Serial Manipulators Conventional Jacobian, Screw-Based Jacobian, Transformation of Screw Coordinates, Relationship between the Two Methods, Condition Number, Singularity Analysis.
6 1st Mid-Term Examination
7 Jacobian Analysis of Parallel Manipulators Jacobian Matrices, Singularity Conditions, Conventional Jacobian.
8 Jacobian Analysis of Parallel Manipulators Wrenches and Reciprocal Screws, Screw-Based Jacobian.
9 Statics and Stiffness Analysis Statics of Serial Manipulators, Transformation of Forces and Moments, Stiffness Analysis of Serial Manipulators.
10 Statics and Stiffness Analysis Statics of Parallel Manipulators, Stiffness Analysis of Parallel Manipulators.
11 2nd Mid-Term Examination
12 Dynamics of Serial Manipulators Mass Properties, Momentum, Transformation of Inertia Matrix, Kinetic Energy, Newton-Euler Laws, Recursive Newton-Euler Formulation.
13 Dynamics of Serial Manipulators Lagrangian Formulation, Inertia Effects of the Rotors, End-Effector Space Dynamical Equations.
14 Dynamics of Parallel Manipulators Newton-Euler Formulation, Principle of Virtual Work, Lagrangian Formulation.

Recomended or Required Reading

Robot Analysis-The Mechanics of Serial and Parallel Manipulators, Lung-Wen Tsai, John Wiley & Sons Inc, 1999.

Planned Learning Activities and Teaching Methods

Lecture, homework

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA
1 MTE 1 MIDTERM EXAM 1
2 MTE 2 MIDTERM EXAM 2
3 ASG ASSIGNMENT
4 FIN FINAL EXAM
5 FCG FINAL COURSE GRADE MTE 1 * 0.20 + MTE 2 * 0.20 + ASG * 0.10 + FIN * 0.50
6 RST RESIT
7 FCGR FINAL COURSE GRADE (RESIT) MTE 1 * 0.20 + MTE 2 * 0.20 + ASG * 0.10 + RST * 0.50

Further Notes About Assessment Methods

None

Assessment Criteria

Lectures include whole of the learning outcomes.
Position, Jacobian, velocity, statics and stiffness analyses are evaluated in mid-term exams.
Dynamic analysis is evaluated in final exam.
Homework includes all topics with intensive matrix computations.

Language of Instruction

English

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

saide.sarigul@deu.edu.tr

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours)
Lectures 12 3 36
Preparations before/after weekly lectures 12 2 24
Preparation for midterm exam 2 24 48
Preparation for final exam 1 48 48
Preparing assignments 10 2 20
Midterm 2 3 6
Final 1 3 3
TOTAL WORKLOAD (hours) 185

Contribution of Learning Outcomes to Programme Outcomes

PO/LOPO.1PO.2PO.3PO.4PO.5PO.6PO.7PO.8PO.9PO.10PO.11PO.12PO.13PO.14PO.15
LO.155555
LO.255554
LO.354
LO.454
LO.5
LO.6

CONTACT INFORMATION
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Phone: +90(232) 412 12 12 - Fax: +90 (232) 464 81 35

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