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OVERVIEW
This course deals with advanced kinematic synthesis and analysis of mechanisms. Graphical
and analytical methods for the synthesis of planar linkages will be presented. Techniques for
velocity and acceleration analysis of complex mechanisms will be discussed. Force analysis of
linkages will be introduced. Techniques for the synthesis and analysis of spatial mechanisms
will be introduced.
REFERENCES
1. Kinematic Synthesis of Linkages, Hartenberg and Denavit (freely available online)
2. Advanced Mechanism Design, Vol. II, Erdman and Sandor
3. Theory of Mechanisms and Machines, Ghosh and Mallik
4. Kinematic Synthesis and Analysis of Mechanisms, Mallik, Ghosh and Dittrich
5. Kinematics and Dynamics of Machinery, Robert L. Norton
6. Theory of Machines and Mechanisms, Shigley, Uicker, Mishke
BACKGROUND
Prerequisite courses in engineering mechanics and kinematics and dynamics of machinery should
have provided you with a basic understanding of the concepts of displacement, velocity, acceleration, static force equilibrium, and dynamic equilibrium. Review these concepts to help you
be comfortable with the material presented in this course. Specifically, you should be capable
of the following:
Use a compass and ruler to perform basic geometric constructions
Perform basic vector algebra and manipulate trigonometric quantities
Define displacement, velocity and acceleration of points and of rigid bodies
Represent vectors as complex numbers and vice-versa
Use the chain rule for differentiation
Draw free-body diagrams
Use MATLAB, SciLAB or other mathematical programming tools
LEARNING OUTCOMES
1. Review of kinematics fundamentals - degrees of freedom, mobility, joints, links
Classify joints as higher and lower pairs and determine their connectivity
Classify links based on their nodes
Draw kinematic diagrams of real-life mechanisms
Determine the mobility of mechanisms