Fundamental Mechanism Theory and Machine Dynamics for Robotics

 

 

Content

  • Mathematics
    • Trigonometry
      • Properties of the trigonometric functions
      • Identities and inverse functions
      • Half-angle-method
    • Applied linear algebra
      • Basic concepts of vectors and matrices
      • Vector products and geometrical applications
      • Vector spaces
      • Systems of linear equations
    • Mathematical representations of rotations and homogenous transformations
      • Euler-angles
      • Roll-pitch-yaw convention
      • Angle-axis-convention
      • Rotation matrices
      • Quaternions
      • Homogenous transformations
    • Mechanism Theory
      • Classification of mechanisms according to dimension, application, main-link features
      • Joint variants and mobility of mechanisms
      • Mechanism analysis
      • Velocities and accelerations in mechanisms
    • Machine Dynamics
      • Modelling of dynamic systems
      • Discrete single-degree-of-freedom systems
      • Discrete multiple-degree-of-freedom systems

 

 

Learning Objectives

  • The students can apply trigonometric functions for the solution of common tasks from machine dynamics, mechanism theory and robotics.
  • The students can perform basic operations of vectors and matrices quickly and understand the geometrical meaning of these operations.
  • The students can apply methods from linear algebra for the solution of linear equation systems from machine dynamics, mechanism theory and robotics.
  • The students understand the concept of Eigenvalues and Eigenvectors.
  • The students understand the different meanings of rotations.
  • The students know different possibilities to represent rotations mathematically and their respective advantages and disadvantages.
  • The students can use the mathematical representations of rotations for the solution of common tasks from machine dynamics, mechanism theory and robotics.
  • The students understand the difference between rotations and homogenous transformations and their mathematical description.
  • The students can use the mathematical representations of homogenous transformations for the solution of common tasks from machine dynamics, mechanism theory and robotics.
  • The students can distinguish between different kinds of mechanisms.
  • The students know the general elements of mechanisms and their relationship to the motion of the mechanism.
  • The students understand the relationship between mechanisms theory and the kinematics of robots.
  • The students know the basic procedures of mechanism analysis and the relationship to the design of robots.
  • The students can apply methods from mechanism theory to common tasks from robotics.
  • The students know how to model dynamic systems based on given technical system such as robots.
  • The students have a basic understanding of oscillations and stability for single and multiple-degree-of-freedom systems.
  • The students can apply their knowledge from machine dynamics to common tasks from robotics.

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