ME 5243: Advanced Mechanism Design

Course Schedule – 2017 Fall Semester

 

 

Cl

Day

Date

Topic

Reading/Viewing

Notes

1

T

9/5

Introductions

Course Overview, Kinematic Dwgs, Joints, Links, Mobility

Handout: Kinematic Diagrams + DOF

Videos: Course Intro, Fundamentals, Mobility

Reading: 1.1-5, and 1.7

 

2

Th

9/7

Mechanism Classification

Range of Motion: Grashof Criteria,

Type: Motion, Path, and Function

Geared 5-bar and 6-bar Classifications, Project Introduction

Handout: Classification

Video: Classification

Reading: 2.2-skim of S&E Vol 2

2.13, 3.2 of Norton DOM

Bring drawing tools from now on.

3

T

9/12

Mechanism Operation

Branch vs. Circuit, Transmission Angle, Mechanical Advantage

Handout: Operation   Operation-Solns   Rescue Spreader Soln

Videos: Geometric Inversion, Trans Angle, Mech Adv, V slides

Reading: 1.6 of S&E Vol 2

3.1,3,9 of E&S Vol 1

Project Team due

4

Th

9/14

Type Synthesis

Design Process, Type Synthesis, Number Synthesis, Team Forming

Slides

Handout: Team Forming

Video: Design Process, V slides

Req Reading: Erdman Type Synthesis Notes

Opt Reading: 3.9 of E&S Vol 1

1.5 of Norton DOM

Lim and Erdman paper

 

5

T

9/19

Graphical Synthesis I

2 & 3 PP Motion Synthesis, Driving Dyad Synthesis

Handout: Motion Gen Synthesis

Solutions: Motion Gen Synth

Videos: Dim Synth Overview, Motion Synth, Driving Dyad, V slides

Reading: 2.4-6

pg 118-120 of Norton DOM

 

6

Th

9/21

Graphical Synthesis II

Ground Pivot Specification,

Path Synthesis

Handouts: Motion w/ Ground Piv Spec, Path Generation

Solutions: Motion, Path

Test 1 Solutions

Homework 1 Assignment

Videos: Motion with Ground Piv Spec, Path Synth, V slides

Reading: 2.7-8, pg 113-117 of Norton DOM

Project Proposal

7

T

9/26

Graphical Synthesis III

Function Synthesis, Chebychev Spacing,

Mechanism Atlas Methods, Dwell Mechanisms

Handouts: Hrones and Nelson Atlas (37 MB), Function Synthesis, Dwell Synthesis

Solution: Function Synthesis    

Videos: Atlas Synthesis, Fcn Syn Intro, 3PP Fcn Syn: print handout prior to video

Reading: 3.6,9 of Norton DOM, pg 52-58, 2.10-11

 

8

Th

9/28

Analytical Synthesis I

Complex Number Review, Standard Form, 2 PP Motion Synthesis, Program LINCAGES Introduction

Handout: 2PP Motion Synthesis

Solution: 2PP Motion Synthesis

Videos: Vector Representation, Std Form, 2PP Motion, V slides

Reading: 2.12-14

Hartenberg Math Appendix

 

9

T

10/3

Analytical Synthesis II

3 PP Motion Synthesis

3PP Path and Function Synthesis

Handouts: 3PP Motion, 3PP Path, 3PP Function

Solution: 3PP Synthesis

Videos: 3PP Motion, 3PP Path w/ Timing, 3PP Function, V slides

Reading: 2.15-16

Hartenberg Math Appendix

 

10

Th

10/5

Analytical Synthesis III

Multi-Loop Mechanism Synthesis

Handouts: Multi-Loop

Solutions: Multi-Loop

Test 2 Solutions

Homework 2 Assignment

Video: Multi-Loop Synthesis, handout for video, V slides

Reading: 2.19

Hartenberg Math Appendix

 

11

T

10/10

M & K Circles

M & K Circle Construction and Synthesis

Handout: M&K Circles

Solution: M&K Circles

Video: M&K Circles, handout, V slides

Reading: 2.20

12

Th

10/12

Alternative Free Choices

Ground Pivot Specification

Order (Velocity, Acceleration, etc.) Synthesis

Handouts: Motion GPS, Order Synthesis

Solns: Motion GPS

Videos: Ground Pivot Specification, Order Synthesis, V slides

Reading: 8.19 of E&S Vol 1,

(same as 2.21 of Vol 2 w/ vector solution)

 2.24

Progress Report 1

13

T

10/17

Group Project Work

No Class Meeting

 

14

Th

10/19

Computer Aided Synthesis 

Computer Tools for Advanced Synthesis

Test 3 Solutions

Homework 3 Assignment

2PP Motion Matlab Code  2PP Code w/ Iteration & Plotting

Video: Computer Synthesis

 

15

T

10/24

Cognates

Cognate Construction Methods and Uses

Handouts: Computer Aided Synth, Cognates

Solution: Cognates

Video: Cognates

3.9-10

6.4-5 of Hartenberg

 

16

Th

10/26

4 PP Synthesis

4 PP Solution Methods, Superposition, Non-linear Analytic Solution, Burmester Curves

Handouts: 4PP Superposition, 4PP Compatibility 4-bar

Solutions: 4PP

Videos: 4PP Overview, 4PP Superposition, 4PP via Complex #s, V slides

Reading: 3.1-5

Mid-Semester Peer Evals

17

T

10/31

Slider Point, Concurrency Point, & 5PP Synthesis

Concurrency Point Solution

Handout: Slider Point Synthesis

Video: Slider Synthesis, V slides

Reading: 3.6, 3.8

18

Th

11/2

Multi-Loop Synthesis Revisited

6-bar Synthesis, Geared 5-bar Synthesis

Homework 4 Assignment

Homework 4 Solutions

Handout: Multi-Loop Synthesis

3.11-13

 

19

T

11/7

Solution Rectification

Methods of Determining Good Solutions

Filemon’s Method

Handouts: 3PP Graphical Rectification, Burmester Curve Rectification

Test 4 Solution

Videos: Soln Rect Intro,   Filemon’s Method, V slides

Papers: Chase, Mirth & Chase, Filemon

Progress Report 2

20

Th

11/9

Optimization of Mechanisms Solution Optimization Approaches to Linkage Synthesis

Handout: Function Gen Optimization

Videos: Optimization Intro,   Straight Line Mech Opt,   Multi-Domain Opt (optional)

Optional Reading: 5.14 of Norton DOM (focus on optimization)

21

T

11/14

Introduction to Cam Design

Cam Introduction, SVAJ diagrams, Simple Cam Profiles

Handout: Cam Fundamentals

Solns: Annotated Slides

Videos: Cam Design Intro, Critical Extreme Position, V slides

Optional Reading: 8.1-3 of Norton DOM

 

22

Th

11/16

Cam Design II

Critical Path Motion

Polynomial Cam Program (polycam.m)

Handout: Critical Path Motion

Test 5 Solutions

Homework 5 Assignment

Homework 5 Solutions

Video: Polynomial Deep Dive

Optional Reading: 8.4-5 of Norton DOM

 

23

T

11/21

Cam Design III

Cam Sizing

Cam Sizing Program (camsize.m)

Handouts: Cam Sizing, Class Slides

Video: Cam Sizing

Optional Reading: 8.6 of Norton DOM

 

Th

11/23

Thanksgiving – No Class

24

T

11/28

Spatial Mechanisms I

Intro to Spatial Mechanisms, Joints, Mobility

Spherical Mechanism Synthesis

Handouts: Spatial Mobility, Spherical Synthesis

Video: Spatial Mech Intro, V slides

12.1-3 of Uicker

12.1-3 of Hartenberg

12.4-6 of Hartenberg

25

Th

11/30

Spatial Mechanisms II

Denavit-Hartenberg Parameters

Handouts: DH Param Transformations, DH Parameter Analysis, Class Slides

Video: DH Parameters

12.6-8 of Uicker

Draft Report Due

26

T

12/5

Project Presentations

 

27

Th

12/7

Project Presentations

 

Peer Report Review Due 9am  Guidelines

28

T

12/12

Course Review I

Class Slides

 

Final Report Due

 

T

12/19

Final Exam, 8:00 am – 10:00 am

Homework 6

Homework 6 Partial Solns

 

Final Peer Evals

*Note: This is a rough guideline; schedule and topics are subject to change without notice.