MK589 Serial and Parallel Manipulators

6 ECTS - 3-0 Duration (T+A)- . Semester- 3 National Credit

Information

Code MK589
Name Serial and Parallel Manipulators
Semester . Semester
Duration (T+A) 3-0 (T-A) (17 Week)
ECTS 6 ECTS
National Credit 3 National Credit
Teaching Language İngilizce
Level Doktora Dersi
Type Normal
Mode of study Yüz Yüze Öğretim
Catalog Information Coordinator


Course Goal

Knowing the Required Methods for the Selection of Complex Mechanisms and the Analysis of the Resulting Complex Movements, the Most Difficult First Stage of Machine Design.

Course Content

The concept of complexity in mechanisms; Kinematics of complex mechanisms; Analysis methods for velocity and acceleration in complex mechanisms; Normal acceleration method; Auxiliary points method; Goodman method; Analytical methods; Trajectory curves

Course Precondition

None

Resources

None

Notes

None


Course Learning Outcomes

Order Course Learning Outcomes
LO01 Performs position analysis of parallel manipulators.
LO02 Performs Jacobian analysis of serial manipulators.
LO03 Performs Jacobian analysis of paralel manipulators.
LO04 Performs position analysis of serial manipulators.
LO05 Performs statics and stiffness analysis.


Relation with Program Learning Outcome

Order Type Program Learning Outcomes Level
PLO01 Bilgi - Kuramsal, Olgusal Understands and applies basic sciences, mathematics and engineering sciences at a high level. 3
PLO02 Beceriler - Bilişsel, Uygulamalı He/she has extensive and in-depth knowledge, including the latest developments in his/her field. 1
PLO03 Bilgi - Kuramsal, Olgusal They reach the latest information in a field and have a high level of proficiency in the methods and skills necessary to comprehend and research them. 2
PLO04 Yetkinlikler - Öğrenme Yetkinliği They carry out a comprehensive study that brings innovation to science and technology, develops a new scientific method or technological product/process, or applies a known method to a new field. 2
PLO05 Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği Independently perceives, designs, implements and concludes an original research process; manages this process. 1
PLO06 Yetkinlikler - Alana Özgü Yetkinlik Contributes to the science and technology literature by publishing the outputs of its academic studies in respected academic environments. 3
PLO07 Yetkinlikler - İletişim ve Sosyal Yetkinlik Evaluates scientific, technological, social and cultural developments and conveys them to the society with the awareness of scientific impartiality and ethical responsibility. 1
PLO08 Belirsiz Performs critical analysis, synthesis and evaluation of ideas and developments in the field of expertise. 2
PLO09 Yetkinlikler - Öğrenme Yetkinliği Communicates effectively, both verbally and in writing, with those working in the field of specialization and the wider scientific and social community, communicating and discussing at an advanced level of written, oral and visual communication using a foreign language at least at the C1 General Level of the European Language Portfolio. 1
PLO10 Yetkinlikler - Bağımsız Çalışabilme ve Sorumluluk Alabilme Yetkinliği Carries out literature search


Week Plan

Week Topic Preparation Methods
1 Introduction Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
2 Position Analysis of Serial Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
3 Position Analysis of Serial Manipulators-2. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
4 Position analysis of parallel manipulators-2 Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
5 Postion analysis of parallel manipulators-2 Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
6 Jacobian Analysis of Serial Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
7 Jacobian Analysis of Serial Manipulators-2. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
8 Mid-Term Exam Ölçme Yöntemleri:
Yazılı Sınav
9 Jacobian Analysis of Parallel Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
10 Jacobian Analysis of Parallel Manipulators-2. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
11 Statics and Stiffness Analysis. Study the relevant chapter of the textbook. Yöntem Seçilmemiş
12 Wrist Mechanisms. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
13 Tendon-Driven Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
14 Dynamics of Serial Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
15 Dynamics of Parallel Manipulators. Study the relevant chapter of the textbook. Öğretim Yöntemleri:
Anlatım
16 Term Exams Ölçme Yöntemleri:
Yazılı Sınav
17 Term Exams Ölçme Yöntemleri:
Yazılı Sınav


Student Workload - ECTS

Works Number Time (Hour) Workload (Hour)
Course Related Works
Class Time (Exam weeks are excluded) 14 3 42
Out of Class Study (Preliminary Work, Practice) 14 5 70
Assesment Related Works
Homeworks, Projects, Others 0 0 0
Mid-term Exams (Written, Oral, etc.) 1 15 15
Final Exam 1 30 30
Total Workload (Hour) 157
Total Workload / 25 (h) 6,28
ECTS 6 ECTS