Course11210523640 lectures
Mechanism and Robot Kinematics
Prof. Anirvan Dasgupta · IIT Kharagpur
About
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.
Intended audience: MechanicalElectricalAerospace Bio-Medical Engineering
Prerequisites: Engineering MechanicsUndergraduate Mathematics
Lectures
Week 1
- Lecture 1 : Introduction
- Lecture 2 : Nomenclature
- Lecture 3 : Kinematic Diagram
- Lecture 4 : Degree of Freedom – I
- Lecture 5 : Degree of Freedom – II
Week 2
- Lecture 6 : Degree of Freedom – Failure
- Lecture 7 : Grashof Criteria – I
- Lecture 8 : Grashof Criteria – II
- Lecture 9 : Geometry and Representation of Vectors
- Lecture 10 : Displacement Analysis: Constrained Mechanism – I
Week 3
- Lecture 11 : Displacement Analysis: constrained mechanism – II
- Lecture 12 : Displacement Analysis: constrained mechanism – III
- Lecture 13 : Displacement Analysis: constrained mechanism – IV
- Lecture 14 : Displacement Analysis: open chain robot – I
- Lecture 15 : Displacement Analysis: open chain robot – II
Week 4
- Lecture 16 : Displacement Analysis: open chain robot – III
- Lecture 17 : Displacement Analysis: open chain robot – IV
- Lecture 18 : Displacement Analysis: closed chain robot – I
- Lecture 19 : Displacement Analysis: closed chain robot – II
Week 5
- Lecture 20: Velocity Analysis: geometric concepts – I
- Lecture 21 : Velocity Analysis: geometric concepts – II
- Lecture 22 : Velocity Analysis: geometric concepts – III
- Lecture 23 : Velocity Analysis: application of geometric concepts – I
- Lecture 24 : Velocity Analysis: application of geometric concepts – II
- Lecture 25 : Velocity Analysis: application of geometric concepts – III
Week 6
- Lecture 26 : Velocity Analysis: analytical approach – I
- Lecture 27 : Velocity Analysis: analytical approach – II
- Lecture 28 : Velocity Analysis: analytical approach – III
- Lecture 29 : Serial Manipulator Velocity Analysis – I
- Lecture 30 : Serial Manipulator Velocity Analysis – II
Week 7
- Lecture 31: Serial Manipulator Velocity Analysis – III
- Lecture 32: Parallel Manipulator Velocity Analysis
- Lecture 33: Path Generation Problem
- Lecture 34: Acceleration Analysis – I
- Lecture 35: Acceleration Analysis – II
Week 8
Syllabus and materials
At NPTEL, as the course publishes them.
Credits and licence
- Institution
- IIT Kharagpur
- Department
- Mechanical Engineering
- Teacher
- Prof. Anirvan Dasgupta
- Level
- Undergraduate
- Language
- English
- Subjects
- Engineering
- Source
- NPTEL
- Licence
- CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
- Attribution
- NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
- Who can watch
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