Analysis and design of mechanisms is of vital importance to any machine design, particularly in mechatronics and robotics. Basic principles of linear and rotary
displacement accompanied with velocity and acceleration analysis of rigid bodies set the rules of the physical description of complex rigid bodies. These principles are used in the synthesis of cams, spurs, bevel, helical and worm gears, as well as gear trains. Furthermore, these principles are used in the analysis and synthesis of linkages, planar and spatial. Static stress analysis of linkages is followed by dynamical analysis and design rules, down to the simplest mechanical components. Typical nonlinearities, backlash and manufacturing tolerances, which are vital for the quality of design of complex mechanisms with joints and linkages, are presented in a systematic way to pave the way for the calibration procedures of mechanisms. Finally, industrial robots are given as the best examples to bridge theory and implementation in various mechatronic design examples.
Learning Outcomes
Upon successful completion of this study unit, the learner will be able to:
1. Understand the importance and elements of mechanism design, the classification of mechanisms and the concepts of mechanism analysis and synthesis;
2. Understand the practical considerations of mechanisms manufacturing;
3. Evaluate and synthesise the mechanism calibration process;
4. Recognise robots as machines, and acknowledge the processes of analysis and design;
5. Interpret robot manufacturing issues: backlash, tolerances with respect to resolution.
Academic Calendar
https://moodle.mcast.edu.mt/mod/resource/view.php?id=75064
Unit Lecturer
Dr Emil Veg
