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Description of Individual Course Units

Course Unit Code Course Unit Title Type Of Course D U L ECTS MEC 5028 DYNAMIC ANALYSIS OF ROBOT MANIPULATORS 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 ZEKI KIRAL

Offered to

M.Sc. Mechatronics Engineering Mechatronics Engineering

Course Objective

To provide the basic skills for performing the kinematic and kinetic analyses of the planar robot manipulators.

Learning Outcomes of the Course Unit

1   To define the type of robot manipulators. 2   To construct the kinematic relationships between the manipulator end point and 3   To solve the kinetic equations and actuation requirements of the manipulator. 4   To compare different trajectories of the robot manipulator in view of design. 5   To determine the most suitable robot configuration for actual needs.

Mode of Delivery

Face -to- Face

Prerequisites and Co-requisites

None

Recomended Optional Programme Components

None

Course Contents

Week Subject Description 1 Introduction: Robot manipulators and their industrial importance. 2 Kinematics of Serial Manipulators: Basic Definitions and formulations. 3 Inverse Kinematics of Serial Manipulators:Definitions and solution methods. 4 Homogenous Transformations: Coordinate transformations. Assignment of homework 1. 5 Actuation Requirements: Statics Jacobian matrix and singularity concept. 6 Actuation Requirements: Dynamics Classical analysis methods. Delivery of homework 1. 7 Actuation Requirements: Dynamics Multibody dynamics. Assignment of homework 2. 8 Mid-term Exam 9 Trajectory planning: Fundamentals of trajectory planning 10 Workspace analysis. Workspace analysis with Computer Aided Engineering. Delivery of homework 2. tools. 11 Manipulator analysis with CAE tools: Analysis of manipulator rigidity in its workspace. Assignment of homework 3. Static analyses and displacement maps 12 Manipulator analysis with CAE tools: Natural frequencies and frequency maps Actuation torques and torque maps 13 Manipulator design considerations. Static and dynamic finite element analyses of robot manipulators 14 Parallel manipulators basics Kinematic and inverse kinematic analyses. Delivery of homework 3.

Recomended or Required Reading

1. Kinematic Analysis of Robot Manipulators, Carl D. Crane III, Josepf Duffy, Cambridge University Press; 1 edition (2008), ISBN-13: 978-0521047937. 2. Robot and Multibody Dynamics: Analysis and Algorithms, Aphinandan Jain, Springer; 1st Edition, 2010, ISBN-13: 978-1441972668.

Planned Learning Activities and Teaching Methods

Power Point presentations and computer applications.

Assessment Methods

SORTING NUMBER SHORT CODE LONG CODE FORMULA 1 ASG ASSIGNMENT 2 MTE MIDTERM EXAM 3 FIN FINAL EXAM 4 FCG FINAL COURSE GRADE ASG * 0.30 + MTE * 0.30 + FIN * 0.40 5 RST RESIT 6 FCGR FINAL COURSE GRADE (RESIT) ASG * 0.30 + MTE * 0.30 + RST * 0.40

Further Notes About Assessment Methods

None

Assessment Criteria

To be announced.

Language of Instruction

English

Course Policies and Rules

To be announced.

Contact Details for the Lecturer(s)

email: zeki.kiral@deu.edu.tr web: http://people.deu.edu.tr/zeki.kiral

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 5 70 Preparation for final exam 1 22 22 Preparation for midterm exam 1 22 22 Preparing assignments 3 18 54 Midterm 1 3 3 Final 1 3 3 TOTAL WORKLOAD (hours) 216

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 PO.13 PO.14 PO.15 LO.1 4 2 LO.2 3 3 3 2 LO.3 3 3 2 3 LO.4 4 3 2 2 LO.5 3 3 2 3