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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 8

Offered By

Biomechanics

Level of Course Unit

Second Cycle Programmes (Master's Degree)

Course Coordinator

PROFESSOR CESIM ATAŞ

Offered to

Biomechanics

Course Objective

Robotic manipulators, machine-machine industry, flight simulators used in a wide area of today's major dynamic systems. This course Manipulator kinematics, statics and dynamics on the aims to provide basic and advanced topics. Both serial and parallel manipulators are examined in depth. Robot analysis focuses on the computational aspects.

Learning Outcomes of the Course Unit

1   Serial and Parallel Manipulators solving problems 2   Manipulator found Jacobians 3   Manipulator speed serial and parallel solution of problems 4   Examination of Serial and Parallel Manipulator singularity conditions 5   Static and stiffness characteristics of serial and parallel manipulators 6   Dynamic characteristics 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 Entry 2 Position Analysis series Manipulators 3 Position Analysis parallel Manipulators 4 Jacobian Analysis of serial manipulator 5 Jacobian Analysis of serial manipulator 6 Jacobian Analysis of parallel manipulator 7 Jacobian Analysis of serial manipulator 8 Analysis of Static and Stiffness 9 Analysis of Static and Stiffness 10 dynamics of Serial manipulator 11 dynamics of Serial manipulator 12 dynamics of parallel manipulator 13 dynamics of Serial manipulator 14 Final

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

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA 1 MTE MIDTERM EXAM 2 ASG ASSIGNMENT 3 FIN FINAL EXAM 4 FCGR FINAL COURSE GRADE MTE * 0.30 + ASG * 0.20 + FIN* 0.50 5 RST RESIT 6 FCGR FINAL COURSE GRADE (RESIT) MTE * 0.30 + ASG * 0.20 + RST* 0.50

Further Notes About Assessment Methods

None

Assessment Criteria

To be announced.

Language of Instruction

Turkish

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

To be announced.

Office Hours

To be announced.

Work Placement(s)

None

Workload Calculation

Activities Number Time (hours) Total Work Load (hours) Lectures 14 3 42 Preparations before/after weekly lectures 14 2 28 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) 195

Contribution of Learning Outcomes to Programme Outcomes

PO/LO PO.1 PO.2 PO.3 PO.4 PO.5 PO.6 PO.7 PO.8 PO.9 PO.10 PO.11 PO.12 LO.1 4 LO.2 4 LO.3 4 LO.4 4 LO.5 4 LO.6 4