SDU Education Information System
   Home   |  Login Türkçe  | English   
 
   
 
 


 
Course Information
Course Unit Title : Parallel robots
Course Unit Code : 01MAK6149
Type of Course Unit : Optional
Level of Course Unit : Second Cycle
Year of Study : Preb
Semester : 255.Semester
Number of ECTS Credits Allocated : 6,00
Name of Lecturer(s) : ---
Course Assistants : ---
Learning Outcomes of The Course Unit : ? Ability to classify the parallel robots by getting general knowedge
? Ability to synthesis parallel robots
? Ability write kinematic equations of parallel robots
? Ability to analyze velocity and Jacobian of parallel robots
? Ability to perform singularity analysis of parallel robots
? Ability to generate workspace of parallel robots
Mode of Delivery : Face-To-Face
Prerequisities and Co-requisities Courses : Unavailable
Recommended Optional Programme Components : Unavailable
Course Contents : Mechanisms and robotic systems containing flexible links. Multibody kinematics using rigid body and deformation coordinates. Kane's equations. 3-D and 2-D equations of motion. Couplings between rigid body and deformation coordinates. Dynamic invariants of motion. Closed loop and prescribed motion constraints. Changing mode shapes.
Languages of Instruction : Turkish
Course Goals : Design and modeling of parallel robots
Course Aims : At the end of this course, the student will be familiar with the main aspects and important issues of conventional parallel robots, synthesis of parallel mechnaisms, kinematic design of parallel robots, velocity and Jacobian analysis of parallel mechanisms, singularity analysis of parallel robots, workspace of parallel robots.
WorkPlacement   not avaliable
Recommended or Required Reading
Textbook : - Xin-Jun Liu, Jinsong Wang, Parallel Kinematics, Type, Kinematics, and Optimal Design, 2013, ISBN: 978-3-642-36928-5
Additional Resources : not avaliable
Material Sharing
Documents : lecture notes
Assignments : not avaliable
Exams : not avaliable
Additional Material : not avaliable
Planned Learning Activities and Teaching Methods
Lectures, Practical Courses, Presentation, Seminar, Project, Laboratory Applications (if necessary)
ECTS / Table Of Workload (Number of ECTS credits allocated)
Student workload surveys utilized to determine ECTS credits.
Activity :
Number Duration Total  
Course Duration (Excluding Exam Week) :
14 3 42  
Time Of Studying Out Of Class :
14 4 56  
Homeworks :
0 0 0  
Presentation :
0 0 0  
Project :
1 30 30  
Lab Study :
0 0 0  
Field Study :
0 0 0  
Visas :
1 26 26  
Finals :
1 26 26  
Workload Hour (30) :
30  
Total Work Charge / Hour :
0  
Course's ECTS Credit :
0      
Assessment Methods and Criteria
Studies During Halfterm :
Number Co-Effient
Visa :
1 50
Quiz :
0 0
Homework :
0 0
Attendance :
0 0
Application :
0 0
Lab :
0 0
Project :
1 50
Workshop :
0 0
Seminary :
0 0
Field study :
0 0
   
TOTAL :
100
The ratio of the term to success :
50
The ratio of final to success :
50
TOTAL :
100
Weekly Detailed Course Content
Week Topics  
1 Introduction and course description
 
2 Classification of parallel robots
 
3 Classification of parallel robots
 
4 Synthesis of parallel robots
 
5 Synthesis of parallel robots
 
6 Position analysis of parallel robots
 
7 Position analysis of parallel robots (Forward Kinematics)
 
8 Position analysis of parallel robots (Inverse Kinematics)
 
9 Velocity and Jacobian analysis of parallel robots
 
10 Velocity and Jacobian analysis of parallel robots
 
11 Singulartiy of parallel robots
 
12 Singulartiy of parallel robots
 
13 Workspace of parallel robots
 
14 Workspace of parallel robots
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0