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: | |
| 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)