Course Description:
This course is the continous of the course Adcanced Rpbotcas. It aims at introducing and laying down the fundamental of modeling, design, planning ans synthesis of parallel robots. The materials elaborated during this course tempt to provide an insight into relevant issues into kinematics, statics and dynamics and control of parallel robots.The course is established in such a way that includes readings, 6 homework and three projects. There will be some quizzes, one inclass midterm 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 projects several workshops are considered which are given by the TA listed below.
Time: Saturday 15:3019:00 and Monday 13:00 14:30
Room: A11
Instructor: Mehdi Tale Masouleh
Teaching Assistant: Monday 14:00  15:30
 AmirHossein Karimi (Singularityfree workspace of Parallel Robots)
 Iman Yahyapour & Milad Hassanvand (Dynamic and Control of Parallel Manipulators)
 Behzad Mehrafrouz (MEX for Dynamic of Serial Manipulators)
 Hamid Farzaneh (Singularityfree worksapce of Parallel Robots using Interval Analysis)
 Mojtaba Yazdani (Design concepts of Parallel Robots)
Office Hours: 9:0010:00 Wednesday
Textbook:
 Parallel Robots, JeanPierre Merlet
 Type Synthesis of Parallel Mechanisms, Xaniwen Kong and ClĂ©ment Gosselin
Prerequisites:
 L_{A}T_{E}X^{2e} (Words typeset are not accepted)
 Matlab
 Maple
 A CAD software (Preferably SolidWorks)
 Last but not least: Patience
Course Outline:
Parallel Robots  14 weeks  

Chapter 1 Screw Theory Computing DOF and motion patternOverconstatin Parallel Robots. Basic concept on type synthesis of parallel robots  approx 2 weeks 
Quiz I  
Chapter 2 Jacobian of parallel robots using screw theory Constraint singularity  approx 1 weeks 
Quiz II 

Chapter 3 Inverse and Forward kinematic in Euclidean space  approx 2 weeks 
Quiz III  
Chapter 4Inverse and Forward kinematic in 7dimensional kinematic space  approx 3 week 
Chapter 5 Singularity of parallel robots using Grassmann line geomtery  approx 2 weeks 
First Exam  4 hours 
Chapter 6 Static of Parallel Robots  approx 1 weeks 
Chapter 7 Workspace of parallel robots  approx 1 weeks 
Chapter 8 Kinetostatic and stifness analysis of parallel robots  approx 1 weeks 
Chapter 9 Singularityfree workspace of parallel robots  approx 1 weeks 
Chapter 10 Dynamic of parallel robots  approx 1 weeks 
Chapter 11 Control of parallel robots 
Projects: Works done by students are of two sorts:
 Five Homeworks: Homeworks are essentially based on theoretical concepts and are designated to get familiar students with basic issue of parallel robots.
 One Practical Project: Practical project is considered in this course in order to make a connection between theoretical concept and practical concepts. The practical
project consist in the appltying the following for a given parallel robot (Important: Approved parallel robot by instructor can be considered)  DOF, motion patterin
 Inverse and kinematic problem in Euclidean space
 Inverse and kinematic problem in 7dimensional kinematic space
 Inverse and forward dynamic problem
 Veryfing the results of inverse and dynamic problem with ADAMS
 Veryfing the results with the prototype in laboratory (if you are working with Agile Eye 2DOF)
 Control
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 L_{A}T_{E}X, upon following the class proposed by IEEE. The report should follows the the instruction given by IEEE and includes:
 Abstract
 Introduction
 Main body (each section should corresponds to a problem)
 Conclusion
 Reference
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: Quiz (1% each) and Exams (10% each) are scheduled based on the calender provided in the course outline and have flexible date.
Homeworks (7% each)
First Homework 
1392/08/24  
Second Homework  
Third Homework  
Fourth Homework (Take Home Exam)  
Fifth Homework  
Sixth Homework 
Projects (11% each)
First Project  1392/02/01  submit 
Second Project  1392/03/15  
Third Project  1392/05/01 