Mechanism and Robot Kinematics
Mechanism and Robot Kinematics. Instructor: Prof. Anirvan Dasgupta, Department of Mechanical Engineering, IIT Kharagpur. This course will be a foundation course in analysis of mechanisms and robots. After a brief introduction to the subject matter and terms, the audience will be introduced to kinematic analysis of planar constrained mechanisms, and closed and open chain robot manipulators. The course will dwell upon direct and inverse kinematics, velocity and acceleration analysis, kinematic motion generation, singularities in kinematic chains, principle of virtual work and force analysis, coordinate frames and transformations. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. This course will also pave way for more advanced courses on mechanism and robot dynamics and design. (from nptel.ac.in)
| Lecture 08 - Grashof Criteria (cont.) |
Topics covered in this lecture: Metamorphosis of 4R to 3R1P chain, Grashof criterion for 3R1P, RRPP and RPRP chains, Inversions and assembly modes.
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