This course aims at introducing and laying down the fundamental of modeling, design, planning ans synthesis of mechanical robot systems such as serial manipulators, parallel manipulators, humanoid and mobile robots. The materials elaborated during this course tempt to provide an insight into relevant issues into kinematics, statics and dynamics of robotic mechanical systems. Control of robotic mechanical systems is not directly treated and it is covered upon a practical project. The course is established in such a way that includes readings, 6 homework and one project. There will be six quizzes and a final examination. These examinations will be open book unless otherwise stated. Lectures will be based mainly, but not exclusively, on material in the textbook given below. Students are asked to show they abilities in applying theoretical concepts into practical problems for which one practical projects are envisaged for this end. To provide the essential materials for practical project several workshops are considered which are given by the TA listed below.
Time: Sunday 08:00--09:30 and Thursday 08:00--09:30
Instructor: Mehdi Tale Masouleh
Teaching Assistant: Behzad Danaei
Office Hours: 9:00-10:00 Wednesday
- Fundamentals of Robotic Mechanical Systems (Theory, Methods and Algorithms), Jorge Angeles
- Parallel Robots, Jean-Pierre Merlet
- Type Synthesis of Parallel Mechanisms, Xaniwen Kong and Cl'ement Gosselin
- LATEX2e (Words typeset are not accepted)
- A CAD software (Preferably SolidWorks)
- Last but not least: Patience
|Parallel Robots -- 7 weeks|
|Chapter 2 and Introduction into Screw Theory||approx 2 weeks|
|Chapter 3||approx 1 week|
|Chapter 4||approx 1 weeks|
|Chapter 5||approx 1 weeks|
|Chapter 6||approx 1 weeks|
|Chapter 7||approx 1 week|
|Final Exam||4 hours|
|Humanoid Robots -- 2 weeks|
|Introduction to Humanoid Robots and Kinematics Analysis||approx 1 week|
|Case study: You Will Learn to Program NAO H25||approx 1 week|
Files to Download:
- Chapter 2: Euler angles and all invariant parameters of a rotation matrix. | screenshot
- Chapter 3: Time rate change of all invariant parameters of a rotation matrix. | screenshot
- Chapter 4: FKP and IKP solver of a decoupled 6-DoFs manipulator (Matlab R2012a). | screenshot
- Chapter 4_A: An extension to the Chapter 4 of the book: Numerical Solution for the IKP of Serial Manipulators.
- Chapter 4_B: An extension to the Chapter 4 of the book: Redundant Serial Manipulators.
- Chapter 5: A list of serial manipulators with their corresponding kinematic properties.
- Chapter 5: The required optimization software codes for DE, by Mohammad Hossein Saadatzi, which shoud be used for Homework III, Problem 7. | Download
- Chapter 7: Two examples for the inverse dynamic problem of two 2-DOF serial manipulators | Download
- Java Applet for the singularity of 2-DOF five-bar mechanisms | Visit this page
- Java Applet for the singularity of 3-RRR parallel robots | Visit this page
- Constraints singularity of parallel robots, 3-URU | Visit this page
- The most important paper in Singularity of Parallel Robots | Download
- The most important paper in the Workspace of Gough-Stewart Parallel Robot | Download
Projects: Works done by students are of two sorts:
- Six Homeworks: Homeworks are essentially based on theoretical concepts and are designated to get familiar students with basic issue of robotic mechanical systems.
- One Practical Project: Practical project is considered in this course in order to have some insight of theoretical concept into practical concepts. This project is:
- Kinematic ans static analysis of NAO H25.
Report: Homeworks should be done individually, unless otherwise is stated, and plagiarism is not tolerated. In the case of plagiarism, the note of the corresponding work would be marked as zero. All the reports should be typeset in LATEX, upon following the class proposed by IEEE. The report should follows the the instruction given by IEEE and includes:
- Main body (each section should corresponds to a problem)
Academic Honesty: As a University of Tehran student, you have agreed to abide by the University's academic honesty policy. A Lack of knowledge of the academic honesty policy is not a reasonable explanation for a violation. Questions related to course assignments and the academic honesty policy should be directed to the instructor..
|In this regard, we invite you to see the following clip in order to have a better understanding in how we are able to find out whether your homework is done by yourself or one of your classmate.|
Extra Help: Dot not hesitate to come to my office or contact me during office hours or by appointment to discuss a homework problem or any aspect of the course. Moreover, TA considered for each part are also at your total disposal for helping you in your homework, projects and exams.
Important Dates and Grades: Quizzes (5% each) and Final Exam (5% each) are scheduled based on the calender provided in the course outline and have flexible date.
Homeworks (?% each)
Quizzes and Exams
|Quiz I||Chapter 2,3||1394/01/30|
|Quiz II||Chapter 4,5||1394/02/07|
|Quiz III||Chapter 5_1,6||-|
|Quiz IV||Chapter 7,8||-|
|Final Exam||Parallel Robots||-|