1
Mechanism and Robot Kinematics. Instructor: Prof. Anirvan Dasgupta, Department of Mechanical Engineering, IIT Kharagpur.
1111 years
40
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. (from nptel.ac.in)
Course Currilcum
- Lecture 01 – Introduction Unlimited
- Lecture 02 – Nomenclature Unlimited
- Lecture 03 – Kinematic Diagram Unlimited
- Lecture 04 – Degree of Freedom Unlimited
- Lecture 05 – Degree of Freedom (cont.) Unlimited
- Lecture 06 – Degree of Freedom – Failure Unlimited
- Lecture 07 – Grashof Criteria Unlimited
- Lecture 08 – Grashof Criteria (cont.) Unlimited
- Lecture 09 – Geometry and Representation of Vectors Unlimited
- Lecture 10 – Displacement Analysis: Constrained Mechanism Unlimited
- Lecture 11 – Displacement Analysis: Constrained Mechanism – 4R Chain Example Unlimited
- Lecture 12 – Displacement Analysis: Constrained Mechanism – 3R1P Chain Example Unlimited
- Lecture 13 – Displacement Analysis: Constrained Mechanism – 3R1P Chain Example (cont.) Unlimited
- Lecture 14 – Displacement Analysis: Open Chain Robot I Unlimited
- Lecture 15 – Displacement Analysis: Open Chain Robot II Unlimited
- Lecture 16 – Displacement Analysis: Open Chain Robot III Unlimited
- Lecture 17 – Displacement Analysis: Open Chain Robot IV Unlimited
- Lecture 18 – Displacement Analysis: Closed Chain Robot Unlimited
- Lecture 19 – Displacement Analysis: Closed Chain Robot (cont.) Unlimited
- Lecture 20 – Velocity Analysis: Geometric Concepts I Unlimited
- Lecture 21 – Velocity Analysis: Geometric Concepts II Unlimited
- Lecture 22 – Velocity Analysis: Geometric Concepts III Unlimited
- Lecture 23 – Velocity Analysis: Application of Geometric Concepts I Unlimited
- Lecture 24 – Velocity Analysis: Application of Geometric Concepts II Unlimited
- Lecture 25 – Velocity Analysis: Application of Geometric Concepts III Unlimited
- Lecture 26 – Velocity Analysis: Analytical Approach – Example of 4R Chain Unlimited
- Lecture 27 – Velocity Analysis: Analytical Approach – Example of 3R1P Chain Unlimited
- Lecture 28 – Velocity Analysis: Analytical Approach – Example of 3R1P Chain and Combination Unlimited
- Lecture 29 – Serial Manipulator Velocity Analysis I Unlimited
- Lecture 30 – Serial Manipulator Velocity Analysis II Unlimited
- Lecture 31 – Serial Manipulator Velocity Analysis III Unlimited
- Lecture 32 – Parallel Manipulator Velocity Analysis Unlimited
- Lecture 33 – Path Generation Problem Unlimited
- Lecture 34 – Acceleration Analysis Unlimited
- Lecture 35 – Acceleration Analysis (cont.) Unlimited
- Lecture 36 – Force Analysis Unlimited
- Lecture 37 – Force Analysis (cont.) Unlimited
- Lecture 38 – Coordinate Transformation I Unlimited
- Lecture 39 – Coordinate Transformation II Unlimited
- Lecture 40 – Coordinate Transformation III Unlimited
