![]() Lecture 19 - Displacement Analysis: Closed Chain Robot (cont.) This course will also pave way for more advanced courses on mechanism and robot dynamics and design. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. 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. 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. This course will be a foundation course in analysis of mechanisms and robots. Anirvan Dasgupta, Department of Mechanical Engineering, IIT Kharagpur.
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