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課程名稱 |
高等機動學
ADVANCED KINEMATICS |
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開課學期 |
99-1 |
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授課對象 |
工學院 機械工程學研究所 |
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授課教師 |
李志中 |
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課號 |
ME7142 |
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課程識別碼 |
522 M3810 |
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班次 |
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學分 |
3 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期四2,3,4(9:10~12:10) |
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上課地點 |
綜303 |
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備註 |
總人數上限：40人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/991adv_kinematics |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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課程概述 |
This course mainly introduces the kinematic synthesis of planar mechanisms.
Topics of type synthesis, number synthesis, and dimensional synthesis of
mechanisms are introduced. In the dimensional synthesis, theories of synthesis
are given in more details. In addition to the synthesis topic, the path-
curvature theory as well as the kinematic analysis for spatial mechanisms
using matrix method is covered. |
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課程目標 |
To provide the students with sufficient theoretical background to understand
mechanism design techniques and develop skills for applying these theories in
practice. |
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課程要求 |
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預期每週課後學習時數 |
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Office Hours |
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指定閱讀 |
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參考書目 |
1. 蔣君宏, 平面機構之運動學與設計, 高立圖書, 2002.
2. Hartenberg, R. and Denavit, J., Kinematic Synthesis of Linkages, McGraw-
Hill Inc., Int'l ed., 1995.
http://dlxs2.library.cornell.edu/k/kmoddl/toc_hartenberg1.html
3. Tsai, L.W., Robot Analysis- The Mechanics of Serial and Parallel
Manipulators, John Wiley & Sons, Inc., 1999.
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評量方式
(僅供參考) |
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No. |
項目 |
百分比 |
說明 |
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1. |
Paper study and presentation |
10% |
Sep. 2010 revised |
2. |
Homework assignment |
30% |
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3. |
Mid-term exam |
30% |
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4. |
Final exam |
30% |
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週次 |
日期 |
單元主題 |
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第1週 |
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1. Class Introduction, Definitions, Kinematic Chain, Degree of Freedoms, Loop Equation |
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第2週 |
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2. Representation of Mechanisms (Methods of Representation);
3. Structural Characteristics of Mechanisms |
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第3週 |
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4. The Creation of Mechanisms (Procedure for Mechanisms Creation, Planar Three-link Mechanisms Creation, Four-link Mechanisms Creation) |
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第4週 |
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4. The Creation of Mechanisms (Procedure for Mechanisms Creation, Planar Three-link Mechanisms Creation, Four-link Mechanisms Creation) |
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第5週 |
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9. Introduction to Spatial Mechanisms- Position, orientation and location of a rigid body |
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第6週 |
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9. Introduction to Spatial Mechanisms (Matrix Methods, Robot kinematics) |
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第7週 |
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9. Introduction to Spatial Mechanisms (Matrix Methods, Introduction to Robotics) |
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第8週 |
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9. Introduction to Spatial Mechanisms (Matrix Methods, Robot kinematics) |
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第9週 |
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5.Path Curvature and Curvature Theory Pole and Polode, Pole Velocity, Inflection Circle and Euler-Savary Equation |
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第10週 |
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Mid-term exam |
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第11週 |
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6. Dimensional Synthesis- Introduction, Rigid Body Guidance, Two Positions of A Rigid Body, Three Positions of A Rigid Body, |
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第12週 |
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6. Dimensional Synthesis- Pole, pole triangle, Opposite poles |
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第13週 |
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6. Dimensional Synthesis- Pole, pole triangle, Opposite poles |
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第14週 |
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6.Rigid Body GuidanceFour-Position Synthesis, Center-Point Curve and Circle-Point Curve; 7.Function Generation |
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第15週 |
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7. Function Generation - Analytical method for coordinated motions of the cranks Freudenstein equation |
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第16週 |
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8. Path Generation- Analytical synthesis technique, Complex number method, dyad and dyads, four-position synthesis for motion generation |
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第17週 |
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Paper study presentation |
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第18週 |
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Final Exam |
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