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Courses » Mechanism and Robot Kinematics

Mechanism and Robot Kinematics

ABOUT THE COURSE
This course will be a foundation course in analysis of mechanisms and robots. After a brief introduction to the subject matter and terms, the audience will be introduced to kinematic analysis of planar constrained mechanisms, and closed and open chain robot manipulators. The course will dwell upon direct and inverse kinematics, velocity and acceleration analysis, kinematic motion generation, singularities in kinematic chains, principle of virtual work and force analysis, coordinate frames and transformations. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. This course will also pave way for more advanced courses on mechanism and robot dynamics and design.

INTENDED AUDIENCE:
  • Mechanical
  • Electrical
  • Aerospace 
  • Bio-Medical Engineering
PRE-REQUISITES:
  • Engineering Mechanics
  • Undergraduate Mathematics
CORE/ELECTIVE: Elective

UG/PG : UG & PG

INDUSTRY SUPPORT :
  • Automobile and Aerospace industries
  • Automation and robotic device manufacturers
  • Bio-Medical device manufacturers  

3362 students have enrolled already!!

COURSE INSTRUCTOR

Anirvan DasGupta is a faculty in Mechanical Engineering at IIT Kharagpur since 1999. His interests are in the mechanics of discrete and continuous systems. Specifically, his current areas of research includes mechanics of inflatable structures, vibration induced transport, railway vehicle dynamics, and wave propagation in linear and non-linear media. He has extensively taught courses at undergraduate and postgraduate levels like Mechanics, Kinematics of Machines, Dynamics, Dynamics of Machines, Vibration Analysis, Wave Propagation in Continuous Media, and  Railway Vehicle Dynamics.  
COURSE LAYOUT :

Week 1: Introduction to Mechanisms and Robotics, Mobility Analysis-I

Week 2: Mobility Analysis-II, Displacement Analysis: constrained mechanisms and robots-I
  
Week 3: Displacement Analysis: constrained mechanisms and robots-II

Week 4: Displacement Analysis: constrained mechanisms and robots- III, Velocity Analysis: constrained mechanisms and robots-I

Week 5: Velocity Analysis: constrained mechanisms and robots-II

Week 6: Velocity Analysis: constrained mechanisms and robots-III

Week 7: Velocity Analysis: singularity and path generation,Acceleration Analysis, Force Analysis-I 

Week 8: Force Analysis-II, Coordinate Transformations and kinematics of serial robots


REFERENCES:

1. Theory of Mechanisms and Machines: A. Ghosh and A.K. Mallik
2. Kinematics, Dynamics and Design of Machinery: K.J. Waldron and G.L. Kinzel
3. Robotics: K.S. Fu, R.C. Gonzalez and C.S.G. Lee
4. Foundations of Robotics: T. Yoshikawa 

CERTIFICATION EXAM:
  • The exam is optional for a fee. · 
  • Date and Time of Exams: April 28 (Saturday) and April 29 (Sunday) :
    Morning session 9am to 12noon. 
  • Exam for this course will be available in one session on both 28 and 29 April.
  • Registration url: Announcements will be made when the registration form is open for registrations.  
  • The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. 

CERTIFICATE:
  • Final score will be calculated as : 25% assignment score + 75% final exam score  
  • 25% assignment score is calculated as 25% of average of 08 weeks course: Best 6 out of 8 assignments  
  • E-Certificate will be given to those who register and write the exam and score greater than or equal to 40% final score. Certificate will have your name, photograph and the score in the final exam with the breakup. It will have the logos of NPTEL and IIT Kharagpur. It will be e-verifiable at nptel.ac.in/noc.