This course studies the analysis and design of machines. The focus is on the position, velocity and acceleration properties of linkages, cams and gearing. The dynamic analysis of linkages is developed using both Newton's Laws and Lagranges equations.
This class presents the theory and practice of the design of planar and spherical fourbar linkages. The task is defined as a set of planar positions or spatial orientations of the floating link. Geometric constraint equations are solved to determine the hinges of the system.
This class presents the principles of engineering design in the context of an industrial application. Local manufacturing firms define an engineering design project to be completed by students in 10 weeks. Beginning with a goal statement and specifications, the students research technical issues, generate design concepts, organize a design review, and obtain results for a final presentation.
MAE 195: Engineering Project Development
This class presents the basic principles of project organization, planning, execution combined with quality management that is required in a role of engineering leadership. The intent is to provide our students the knowledge necessary to successfully organize, execute, and ensure quality in a project development activity within an existing company, or in one that they create.
This class presents the geometric analysis of articulated mechanical systems. The emphasis is on developing the kinematics equations, solving the inverse kinematics problem, and understanding the Jacobian. This mathematical theory lies at the foundation for the analysis, design, and control of robotic systems.
This class presents the mathematical theory underlying the analysis of general spatial mechanisms and robots. The focus is on the geometry of rigid transformations. The differential properties of spatial movement are studied using screw theory. Clifford algebras are introduced to provide a mathematical framework for quaternion, dual quaternion and double quaternion techniques.
This class presents the mathematics required for the geometric synthesis of spatial linkage systems. Design equations are derived for planar, spherical and spatial 2R open chains, as well as SS, and CC open chains. These equations are solved using algebraic elimination theory to obtain exact solutions for a discrete taskspace. Optimization techniques are used to fit the linkage workspace to a continuous taskspace.
MAE 246: Algebraic Geometry in Kinematics
This class presents the algebraic theory of polynomials necessary to solve a large number of analysis problems in Robot Kinematics. The emphasis is on deriving and solving the polynomial systems for inverse kinematics of serial manipulators and the forward kinematics for parallel manipulators. Resultants, sparse matrix elimination, and polynomial homotopy continuation methods will be the focus of study.
MAE 248: Differential Kinematics
An introduction to the differential geometry of rigid motion in the plane, on the sphere, and in threedimensional space; curvature properties of trajectories of points and lines; and local properties of constraint manifolds that define the workspace of serial and parallel robotic systems.
