ME525 ANALYTICAL METHODS IN SPATIAL MECHANIS
| Course Code: | 5690525 |
| METU Credit (Theoretical-Laboratory hours/week): | 3 (3.00 - 0.00) |
| ECTS Credit: | 8.0 |
| Department: | Mechanical Engineering |
| Language of Instruction: | English |
| Level of Study: | Graduate |
| Course Coordinator: | Assoc.Prof.Dr. ERGİN TÖNÜK |
| Offered Semester: | Fall and Spring Semesters. |
Course Objectives
At the end of this course, the student will be able to
· perform position analysis of one degree of freedom, single loop spatial mechanisms in a systematic manner,
· perform position analysis of robot manipulators via equivalent mechanisms,
· perform velocity and acceleration analysis of robots and spatial mechanisms via screw algebra.
Course Content
Loop equations for spherical and spatial n-gons: Primary and secondary fundamental, subsidiary, half-angle laws. Dual numbers, quarternions, theory of elimination. Analytical displacement analysis of robot-manipulators via equivalent mechanisms. An introduction to symbolic manipulation. Points, lines, planes, screws. Screw algebra. Static, velocity and acceleration analysis of mechanisms and manipulators via screw algebra. (F)
Course Learning Outcomes
By the end of the course the student will perform position analysis of one degree of freedom, single loop spatial mechanisms in a systematic manner,
By the end of the course the student will perform position analysis of robot manipulators via equivalent mechanisms,
By the end of the course the student will perform velocity and acceleration analysis of robots and spatial mechanisms via screw algebra.
Program Outcomes Matrix
| Contribution | |||||
| # | Program Outcomes | No | Yes | ||
| 1 | Acquires the fundamental scientific knowledge required to analyze and solve advanced-level problems in the field of mechanical engineering. | ✔ | |||
| 2 | Gains the competence to utilize advanced engineering mathematics methods in the formulation, analysis, and solution of engineering problems. | ✔ | |||
| 3 | Conducts literature reviews using printed and online sources, analyzes the collected literature, and identifies the current state-of-the-art in the relevant scientific field. | ✔ | |||
| 4 | Demonstrates the ability to prepare and deliver a seminar on a technical subject. | ✔ | |||
| 5 | Develops the ability to conduct independent research on a specific topic and solve advanced engineering problems. | ✔ | |||
| 6 | Contributes to the national and/or international body of knowledge through original research. | ✔ | |||
| 7 | Gains the competence to effectively communicate the process and results of research conducted on a specific subject through scientifically structured written reports and oral presentations. | ✔ | |||
| 8 | Acquires the ability to publish research findings as articles in national and/or international scientific journals and/or present them as papers at conferences. | ✔ | |||
| 9 | Acts in accordance with universal principles of research and publication ethics. | ✔ | |||