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 5107 DYNAMICS OF MECHANICAL SYSTEMS ELECTIVE 3 0 0 9

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 Method, Loop-Closure Equations
3 Position Analysis of Serial Manipulators Method of Successive Screw Displacements
4 Position Analysis of Parallel Manipulators Structure Classification of Parallel Manipulators, Denavit-Hartenberg Method versus Geometric Method
5 Position Analysis of Parallel Manipulators Position Analysis of Different Types of Parallel Manipulators
6 Jacobian Analysis of Serial Manipulators Differential Kinematics of a Rigid Body, Differential Kinematics of Serial Manipulators, Screw Coordinates and Screw Systems
7 Jacobian Analysis of Serial Manipulators Manipulator Jacobian Matrix, Conventional Jacobian
8 Jacobian Analysis of Serial Manipulators Screw-Based Jacobian, Condition Number, Singularity Analysis
9 Jacobian Analysis of Parallel Manipulators Jacobian Matrices, Singularity Conditions, Conventional Jacobian
10 Jacobian Analysis of Parallel Manipulators Wrenches and Reciprocal Screws, Screw-Based Jacobain
11 Statics and Stiffness Analysis Statics of Serial Manipulators, Transformation of Forces and Moments, Stiffness of Serial Manipulators, Statics and Stiffness of Parallel Manipulators
12 Dynamics of Serial Manipulators Mass, Inertia, Momentum, 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.
Complete dynamic analysis of Stewart platform based on workspace, Burcu Güneri, A.Saide Sarıgül, Lambert Academic Publishing, Saarbrucken, Germany, 2011.

Planned Learning Activities and Teaching Methods

Lecture, termpaper, presentation

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA
1 RPT REPORT
2 PRS PRESENTATION
3 FIN FINAL EXAM
4 FCG FINAL COURSE GRADE RPT * 0.25 + PRS * 0.25 + FIN * 0.50
5 RST RESIT
6 FCGR FINAL COURSE GRADE RPT * 0.25 + PRS * 0.25 + FIN * 0.50


Further Notes About Assessment Methods

None

Assessment Criteria

Lectures and presentations include whole of the learning outcomes.
Termpaper includes applications of all topics with intensive matrix computations.
The general acquisition of the students is evaluated by final exam.

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 10 3 30
Student Presentations 4 3 12
Preparations before/after weekly lectures 10 2 20
Preparing presentations 4 8 32
Preparation for final exam 1 20 20
Project Preparation 1 100 100
Final 1 3 3
TOTAL WORKLOAD (hours) 217

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.1555354544
LO.2555354544
LO.3555354544
LO.4555354544
LO.5555354544
LO.6555354544

CONTACT INFORMATION
Dokuz Eylül Üniversitesi Cumhuriyet Bulvarı No: 144 35210 Alsancak / İZMİR
Phone: +90(232) 412 12 12 - Fax: +90 (232) 464 81 35

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