LEARNING OUTCOMES

Fundamentals of theory of mechanisms and machines: synthesis, analysis, modelling, singularities. Kinematics and elements of dynamics. Serial and parallel architectures. Compliant mechanisms. Architectures for robotics. The Lie group of rigid body displacement. Screw theory.

AIMS AND LEARNING OUTCOMES

The course provides the fundamentals of kinematic geometry. On this basis, the students will be ready to further improve their skills and knowledge and be able to handle various advanced problems arising in the mechanics of robotic systems. In particular, they will have the proper mathematical-modelling foundation to attain more specialized skills and knowledge in areas such as multi-body dynamics or flexibility analysis, which are often of crucial importance in robotics-engineering applications.

An important emphasis of the course is on correcting and developing students’ geometrical intuitions for rigid-body motion in three-dimensional space. For this purpose, visualizations and classical geometry are used in parallel with rigorous mathematical formalisms.

PREREQUISITES

Abstract linear algebra, classical spatial geometry, classical mechanics, vector analysis

TEACHING METHODS

The lectures will cover the topics of the syllabus. The students are expected to take notes and answer questions during the lecture/tutorial sessions.

Attendance is mandatory.

SYLLABUS/CONTENT

1.  Linear spaces, screws, twists, and wrenches: the basics of screw theory.

2. Application: constraint analysis and synthesis of parallel manipulators.

3. Kinematic geometry of planar mechanisms.

4. Velocity analysis.

5. Statics of mechanisms.

RECOMMENDED READING/BIBLIOGRAPHY

Lecture notes and slides.

Hunt, K., 1978, Kinematic geometry of mechanisms, Clarendon Press.