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Information
| Code | MK589 |
| Name | Serial and Parallel Manipulators |
| Term | 2023-2024 Academic Year |
| Term | Spring |
| 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 Instructor |
1 |
Course Goal / Objective
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
Serial and Parallel Manipulators
Notes
Manipulators
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 | ||