M.E. CAD/CAM & Robotics:Mechanism Design

First Semester

Modeling and Analysis
Computer Control of Machine Tools
Mechatronics
Computer Programming and Data Structures
Research Methodology


Second Semester

Robotics
Computer Integrated Manufacturing Systems
Industrial Automation
Computational Methods in CAD
Computer Aided Design


Third Semester

Seminar
Thesis (starts)


Fourth Semester

Thesis


Mechanism Design


Introduction to Kinematics and Mechanisms: Motion, The four bar Linkage, The science of Relative motion, Kinematic diagrams, six-bar chains, Degrees of freedom, Analysis vs. Synthesis.

Mechanism Design Philosophy: Stages of design, the synthesis process, Design categories and mechanism parameters.

Mechanism Analysis: Displacement and velocity analysis, acceleration analysis. Kinematic Synthesis of Mechanisms: Number synthesis-The associated linkage concept. Graphical methods, tools and computer programming for synthesis of mechanisms for two, three and four prescribed positions, path generation, prescribed and un-prescribed timings. Analytical Synthesis Techniques. Function and motion generation. Number of prescribed positions vs. Number of Free Choices. Extension of Three-precision-Point Synthesis to Multi-loop mechanisms.

Dynamics of Mechanisms: Inertia forces, Kineto-static Analysis by complex numbers, Superposition method, Matrix Method. Time response, modification of time response of mechanisms. Virtual work. Lagrange Equations of motion. Free vibration of systems with one degree of freedom. Decay of free vibrations. Forced vibrations of systems with one degree of freedom. Rotor balancing. Introduction to Force and Moment balancing of Linkages. Computer program for Force and Moment balancing. Elastic beam element in Plane Motion. Displacement fields for Beam element. Element and system mass and stiffness Matrices. Spatial Mechanisms: Transformations for spatial mechanisms, Analysis of spatial mechanisms. Link and Joint Modeling with Elementary Matrices. Kinematic analysis of an Industrial Robot, position, velocity and acceleration analysis.

Laboratory: Practice of the concept covered in Lecture. Use of Pro-E software for simulation of Mechanisms.