ME525 ANALYTICAL METHODS IN SPATIAL MECHANIS
| Course Code: |
5690525 |
| METU Credit (Theoretical-Laboratory hours/week): |
3(3-0) |
| ECTS Credit: |
8.0 |
| Department: |
Mechanical Engineering |
| Language of Instruction: |
English |
| Level of Study: |
Graduate |
| Course Coordinator: |
|
| Offered Semester: |
Fall and Spring Semesters. |
Course Content
Loop equations for spherical and spatial n-gons: Primary and secondary fundamental, subsidiary, half-angle laws. Dual numbers, quarternions, theory of elimination. Analytical displacement analysis of robot-manipulators via equivalent mechanisms. An introduction to symbolic manipulation. Points, lines, planes, screws. Screw algebra. Static, velocity and acceleration analysis of mechanisms and manipulators via screw algebra. (F)
