| Kommentar |
This course focuses on the kinematics of machinery and robots: Contents: vector spaces; the rigid-body motion: planar motion, spatial motion, description of rotations (Euler angles, rotation vector, Rodrigues and Euler parameters), infinitesimal rotations; kinematics of serial chains; kinematics of closed chains; kinetostatic transmission principle and the transmission of loads; dynamic equations using kinematics; kinematics of planar machinery: instantaneous rotation axis; center of curvature; methods of mechanism synthesis. The course consists of two hours of lectures and one hour of practical lectures in which worked-out examples are discussed. There will also be optional lab sessions using computer simulation and operation of industrial robots in the machine hall. |
