Advanced Mechanism

ED 5150Advanced Mechanism

Kinematics of mechanisms: Basic definitions; Elementary types of joints; Degrees-of-freedom; Kinematic modeling of planar and spatial mechanisms; Constraint equations and their solutions; Introduction to singularity and isotropy in mechanisms;
Statics of mechanisms: Principle of virtual work; The concept of reciprocity between generalised forces and velocities; Constraint forces;
Dynamics of mechanisms: Representation of rigid-bodies; Concepts of mass and inertia; Lagrangian equation of motion; Modeling and simulation of constrained dynamical systems;
Synthesis of mechanisms: Brief review of classical techniques; Synthesis of four-bar, six-bar mechanisms; Case studies in synthesis; Introduction to synthesis of spatial robot manipulators;

Text Books:

1. Samuel Doughty, Mechanics of Machines, 1st, Lulu (Online publisher, USA 2005, ISBN 1411663004/978-1411663008

2. Asok Kumar Mallik, Amitabha Ghosh, Gunter Dittrich, Kinematic Analysis and Synthesis of Mechanisms, 1st edn., CRC-Press, USA, 1994, ISBN 0849391210/978-0849391217


1. John J. Craig, Introduction to Robotics: Mechanics and Control, 3rd edn., Prentice Hall, USA, 2004, ISBN 0201543613/978-0201543612

2. Ashitava Ghosal, Robotics: Fundamental Concepts and Analysis, 1st edn., Oxford University Press India 2006, ISBN 01956739113/978-0195673913

3. Arthur G. Erdman, George N. Sandor, Sridhar Kota, Mechanism Design: Analysis and Synthesis (vol. 1,2), 4th edn., Prentice Hall, USA, 2001, ISBN 0130408727/978-0130408723
Suggested publications from journals and conference proceedings.