MECH5710

Course Number: MECH 5710/6710,
Course Title: Kinematics and Dynamics of Robots
Credit Hours: 3
Prerequisites: MECH 3140
Corequisites: None

Objectives:
This course is intended to introduce students to the theory of closed and open kinematics chains and their application. Students will be able to: compute the positions of the systems in motion using fixed and mobile reference frames, and different types of coordinates; analyse the velocities and accelerations; compute forces and torques in joints; write equations of motions; analyse the inverse problems in kinematics and dynamics; use the computer software (MATHEMATICA/MATLAB) to simulate the motion.

Coordinators:
Dan B. Marghitu, Ross 109, phone: 844-3335, office hours: TR 10:00-11:30

Eliza Banu, TA, Ross 349 (Litee Lab), email: banueli@auburn.edu, www.eng.auburn.edu/~banueli

Time: TR 08:00-09:15 a.m. SHLBY 1122

INTRODUCTION figures (pdf)

FUNDAMENTALS figures (pdf)

POSITION ANALYSIS figures (pdf) Solutions (pdf)

VELOCITY AND ACCELERATION ANALYSIS figures (pdf) Solutions (pdf)

CONTOUR EQUATIONS FOR MECHANISMS figures (pdf)

FORCE ANALYSIS figures (pdf) Solutions (pdf) [Direct Dynamics (pdf)] Appendix 2 (Mathematica)

SIMULATION OF KINEMATIC CHAINS WITH MATHEATICA figures programs (pdf)

PACKAGES FOR KINEMATIC CHAINS figures programs (pdf)

Position Analysis with MATLAB figures (pdf)
MATLAB files: Program 1, Program 2, Program 3, Program 4, Program 5, Program 6, Program 7, Program 8

FIGURES and TABLES (Figs. 1 - 18 ) (pdf)

Homework MATLAB: (pdf) and Program I (MATLAB) , Program II (MATLAB) , sys2eqs.m (MATLAB)

Homework Strctural Analysis (pdf)

EXAMINATION I (pdf) [ sample for the examination I (pdf ) ]

MATLAB files: Program 1, Program 2, Program 3, Dist.m

Mathematica files: Program 1, Program 2, Program 3

Velocity and Acceleration Analysis with MATLAB figures (pdf)
MATLAB files: Program 1, Program 2, Program 3, Program 4, Program 5, Program 6, Program 7, Program 8

EXAMINATION II: Velocity and Acceleration Analysis (pdf)

I. ALGEBRAIC METHOD: text (pdf) program (MATLAB), program (Mathematica)

II. DERIVATIVE METHOD: text (pdf) program (MATLAB), program (Mathematica)

Preferred Program: Mathematica file 1 and Accepted Program: Mathematica file 2

III. CONTOUR METHOD: text (pdf) program (MATLAB), program (Mathematica)

Dynamic Force Analysis with MATLAB figures (pdf)

MATLAB files: Program 1, Program 2, Program 3, Program 4, Program 5, Program 6, Program 7

Homework: Problem R-RTR (pdf) (Matlab file for the input data)

Write a MATLAB pogram for the calculation of the joint forces for the Problem R-RTR (pdf) using Newton-Euler Equations.

EXAMINATION III: Dynamic Force Analysis (pdf) sample (pdf)

Due Date (Newton-Euler method): Oct. 22, 2007

Due Date (final - exam III): Oct. 29, 2007

ProgramDyad (Mathematica)

ProgramContour (Mathematica)

Direct Dynamics (Newton-Euler eom) with MATLAB (pdf)

MATLAB files: Program 1, Program 2, R.m, Program 3, Program 4, Program 5, Program 6, Program 7, Program 8,

RR.m, Rrobot.m, RRrobot.m

Homework: RR kinematic chain (pdf) Due Date: Wed. Oct. 31 (submit your work on WebCT)

Homework: RR robot arm (pdf) Due Date: Wed. Nov. 7 (submit your work on WebCT)

Homework: RT kinematic chain (pdf)

ANALYTICAL DYNAMICS

Analytical Dynamics with MATLAB (pdf) figures (pdf)

MATLAB files: Program 1, Program 2, Program 3, Program 4, Program 5, Program 6

FINAL EXAM

Final Exam (pdf) - Figures (pdf)

1. Write-up and symbolical (MATLAB) program for kinematics (position, velocity, acceleration). Due Date: Nov. 26

2. Write-up and symbolical (MATLAB) program for equations of motion. Due Date: Nov. 30

3. Numerical solutions for inverse dynamics and direct dynamics. Due Date: Dec. 5

(submit your work on WebCT)

Sample-text (pdf), Figures (pdf), Program I (pdf)

Force analysis: R-RTR mechanism (input data) solutions: fbd contour dyad

Mass Moments of Inertia

Mass Momement of Inertia for Triangular Prism

Problem 4.8 (pdf): solution I and solution II

Pendulum Dynamics Dr. Nels H. Madsen
Example: Compound pendulum (HTML) - mathematica program(pdf) HTML-format

Newton-Euler equations - Double Pendulum (pdf)

Double Pendulum - Mathematica program (pdf)

Direct Dynamics (NEWTON- EULER eom) (pdf) Appendix 2 (Mathematica)

Equations of motion: RT kinematic chain: text figure Solution: Newton Euler (method 1 method 2)
Lagrange

Lagrange's Equations Examples (pdf)

Laws of motion

Lagrange's equations - Example 1

Lagrange's equations - Example 2

Mathematica program - Example 2

Lagrange's equations - Example 3

(figure)

Mathematica program - Example 3

Kane's equations - Example 1

Three DOF arm

Mathematica program

Four DOF robot (homework)

Collisions

Multibody systems with elastic links

OPEN KINEMATIC CHAINS
Kinematic modeling
Inverse kinematics
Force and moment analysis
Newton-Euler formulation of equations of motion
Lagrangian formulation
Inverse dynamics

Textbook: instructors's notes
References:
ASADA, H. AND SLOTINE, J.J.E., ROBOT ANALYSIS AND CONTROL, JOHN WILEY AND SONS, INC., NEW YORK, 1986
D.B. Marghitu, Kinematics Chains and Machine Components Design, Elsevier, 2005
D.B. Marghitu and M.J. Crocker, Analytical Elements of Mechanisms, Cambridge University Press, 2001

Grading and Evaluation Procedures
Prereq. Exam: 5%, Exam I : 15%, Exam II : 25%, Exam III : 25%, Final exam: 25%
Projects, homeworks, quizzes: 5%

Accessibility
It is the policy of Auburn University to provide accessibility to its programs and activities, and reasonable accommodation for persons defined as having a disability under Section 504 of the Rehabilitation Act of 1973, as amended, and the Americans with Disabilities Act of 1990. Students who need special accommodations should make an appointment to see the instructor as soon as possible or contact the Students with Disabilities Program office at (334) 844-5943 (Voice/TT).