Advanced Mechanism Design

Course Chinese title: 高等機構學
Course Number: ME5205701
Credits: 3
Taught level: Graduates
Lecturer: Dr. Chin-Hsing Kuo (郭進星博士)
Advanced Mechanism Design (2012-2014) (2014年以前之授課網頁)

Course Description

本課程旨在介紹機構之構造分析與合成理論、連桿機構之尺度合成理論、以及螺旋理論於機構與機器人運動學之應用。

This course aims to introduce the methods for structural synthesis and analysis of mechanisms, the analytical method for dimensional synthesis of linkages, and the applications of screw theory for kinematic analysis of mechanisms and robotic manipulators.

Course Contents

Structural analysis

  • Fundamental of mechanisms and graph theory
  • Structural representations of mechanisms
  • Structural analysis of mechanisms

Structural synthesis

  • Yan's design methodology

Line geometry

  • Plücker coordinates

Screw algebra

  • Screws for finite displacement
  • Screws for differential kinematics
  • Screw-based mobility analysis
  • Reciprocal screws
  • Twist and wrench

Dimensional synthesis of linkages

  • Function generation, path generation, and motion generation
  • Complex-number method
  • Freudenstein’s Equation
  • Cognate mechanism


Class Calendar

Textbook

  • Lecture hangout

Reference Books

  • Tsai, L.-W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York, NY.
  • Davidson, J. K. and Hunt, K. H., 2004, Robots and Screw Theory: Applications of Kinematics and Statics to Robotics, Oxford University Press, Oxford, New York.
  • Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press, Oxford.
  • Yan, H.-S., 1999, Creative Design of Mechanical Devices, Springer, Singapore.
    中譯本:顏鴻森 著,2006,機械裝置的創意性設計,東華書局,台北。
  • Tsai, L.-W., 2001, Mechanism Design: Enumeration of Kinematic Structures According to Function, CRC Press, Boca Raton, Florida.
  • Sandor, G. N. and Erdman, A. G., 1984, Advanced Mechanism Design: Analysis and Synthesis, Vol. 2, Prentice-Hall, Englewood Cliffs, New Jersey.
  • 許正和,2006,創造性機構設計學,高立圖書,台北。

Reading List

Nature of Design

  • Yan, H. S., “What is Design? (in Chinese)” Proceedings of the 9th National Conference of the Chinese Society of Mechanical Engineers, Kaoshung, Taiwan, November 27-28, 1992, pp. 1-5.PDF

Structural Analysis of Mechanisms

  • Cubillo, J. P. and Wan, J., “Comments on Mechanism Kinematic Chain Isomorphism Identification Using Adjacent Matrices,” Mechanism and Machine Theory, Vol. 40, No. 2, 2005, pp. 131-139.PDF
  • Ding, H. and Huang, Z., “A New Theory for the Topological Structure Analysis of Kinematic Chains and Its Applications,” Mechanism and Machine Theory, Vol. 42, No. 10, 2007, pp. 1264-1279. PDF
  • Dobrjanskyj, L. and Freudenstein, F., “Some Application of Graph Theory to the Structural Analysis of Mechanisms,” ASME Journal of Engineering for Industry, Vol. 89, 1967, pp. 153-158.PDF
  • Freudenstein, F., “An Application of Boolean Algebra to the Motion of Epicyclic Drives,” ASME Journal of Engineering for Industry, Vol. 93, No. 1, 1971, pp. 176-182.PDF
  • Hwang, W. M. and Hwang, Y. W., “An Algorithm for the Detection of Degenerate Kinematic Chains,” Mathematical and Computer Modelling, Vol. 15, No. 12, 1991, pp. 9-15.PDF
  • Kong, F. G., Li, Q., Zhang, W. J., “An Artificial Neural Network Approach to Mechanism Kinematic Chain Isomorphism Identification,” Mechanism and Machine Theory, Vol. 34, No. 2, 1999, pp. 271-283.PDF
  • Olson, D. G., Erdman, A. G., and Riley, D. R., “Topological Analysis of Single-Degree-of-Freedom Planetary Gear Trains,” ASME Journal of Mechanical Design, Vol. 113, No. 1, 1991, pp. 10-16.PDF
  • Rao, A. C., “A Genetic Algorithm for Topological Characteristics of Kinematic Chains,” ASME Journal of Mechanical Design, Vol. 122, No. 2, 2000, pp. 288-291.PDF
  • Sunkari, R. P. and Schmidt, L. C., “Reliability and Efficiency of the Existing Spectral Methods for Isomorphism Detection,” ASME Journal of Mechanical Design, Vol. 128, No. 6, 2006, pp. 1246-1252. PDF
  • Tsai, L.-W., Chen, D.-Z., and Lin, T.-W., “Dynamic Analysis of Geared Robotic Mechanisms Using Graph Theory,” ASME Journal of Mechanical Design, Vol. 120, No. 2, 1998, pp. 240-244. PDF
  • Yan, H. S. and Hwang, W. M., “Linkage Path Code,” Mechanism and Machine Theory, Vol. 19, Nos. 4/5, 1984, pp. 425-429.PDF

Applications of Screw Theory

  • Chen, C. and Angeles, J., “Generalized Transmission Index and Transmission Quality for Spatial Linkages,” Mechanism and Machine Theory, Vol. 42, No. 9, 2007, pp. 1225-1237. Publisher
  • Dai, J. S., “An Historical Review of the Theoretical Development of Rigid Body Displacements from Rodrigues Parameters to the Finite Twist,” Mechanism and Machine Theory, Vol. 41, No. 1, 2006, pp. 41-52. Publisher
  • Dai, J. S., Huang, Z., and Lipkin, H., “Mobility of Overconstrained Parallel Mechanisms,” ASME Journal of Mechanical Design, Vol. 128, No. 1, 2004, pp. 220-229. Publisher
  • Dai, J. S., Li, D., Zhang, Q., and Jin, G., “Mobility Analysis of a Complex Structured Ball Based on Mechanism Decomposition and Equivalent Screw System Analysis,” Mechanism and Machine Theory, Vol. 39, No. 4, 2004, pp. 445-458. Publisher
  • Dai, J. S. and Rees Jones, J., “Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds,” ASME Journal of Mechanical Design, Vol. 121, No. 3, 1999, pp. 375-382. Publisher
  • Dai, J. S. and Rees Jones, J., “Interrelationship Between Screw Systems and Corresponding Reciprocal Systems and Applications,” Mechanism and Machine Theory, Vol. 36, No. 5, 2001, pp. 633-651. Publisher
  • Hunt, K. H., “Prismatic Pairs in Spatial Linkages,” Journal of Mechanisms, Vol. 2, No. 2, 1967, pp. 213-230. Publisher
  • Hunt, K. H., “Special Configurations of Robot-arms via Screw Theory: Part 1-The Jacobian and its Matrix of Cofactors,” Robotica, Vol. 4, No. 3, 1986, pp. 171-179.Publisher, Resource
  • Hunt, K. H., “Special Configurations of Robot-arms via Screw Theory: Part 2-Available End-Effector Displacements,” Robotica, Vol. 5, No. 1, 1987, pp. 17-22. Publisher, Resource
  • Joshi, S. A. and Tsai, L.-W., “Jacobian Analysis of Limited-DOF Parallel Manipulators,” ASME Journal of Mechanical Design, Vol. 124, No. 2, 2002, pp. 254-258. Publisher
  • Kuo, C.-H. and Yan, H.-S., “On the Mobility and Configuration Singularity in Mechanisms with Variable Topologies,” ASME Journal of Mechanical Design, Vol. 129, No. 6, 2007, pp. 617-624. Publisher
  • Sugimoto, K., “Determination of Joint Velocities of Robots by Using Screws,” Journal of Mechanisms, Transmissions and Automation in Design, Vol. 106, No. 2, 1984, pp. 222-227. Publisher, Resource
  • Waldron, K. J., “The Constraint Analysis of Mechanisms,” Journal of Mechanisms, Vol. 1, No. 2, 1966, pp. 101-114.Publisher
  • Waldron, K. J., “A Family of Overconstrained Linkages,” Journal of Mechanisms, Vol. 2, No. 2, 1967, pp. 201-211.Publisher
  • Woo, L. and Freudenstein, F., “Application of Line Geometry to Theoretical Kinematics and the Kinematic Analysis of Mechanical Systems,” Journal of Mechanisms, Vol. 5, No. 3, 1970, pp. 417-460. Publisher
  • Zhao, Y., Liu, J. F., and Huang, Z., “A Force Analysis of a 3-RPS Parallel Mechanism by Using Screw Theory,” Robotica, Vol. 29, No. 7, 2011, pp. 959-965. Publisher

Grading Plan

  • Homework: 100%

Lecture Notes

Structural analysis and synthesis

Applications of screw theory

Dimensional synthesis of linkages

Homework

Fall 2015