Unit 1 Introduction

4 lecture hours

• Introduction to kinematics and mechanisms
• Kinematics diagram
• Degrees of freedom
• Formation of one D.O.F
• multi loop kinematic chains
• Mechanism design philosophy
• design categories and mechanism parameters
• Network formula
• Gross motion concepts

Unit 2 Kinematic Analysis

7 lecture hours

• Position Analysis
• Vector loop equations and Analytical methods for four bar, Slider crank
• Inverted slider
• crank - Geared five bar, Analytical methods for velocity and acceleration Analysis
• Graphical synthesis - Displacement – Velocity and acceleration analysis of simple mechanisms
• Goodman analysis
• Auxiliary point method

Unit 3 Path Curvature Theory

6 lecture hours

• Fixed and moving centrodes
• inflection points and inflection circle
• Euler Savary equation
• Bobillier’s construction
• Hartmann’s construction
• Graphical constructions
• Cubic of stationary curvature

Unit 4 Synthesis of Mechanisms

9 lecture hours

• Type synthesis
• Number synthesis
• Associated Linkage Concept
• Dimensional synthesis
• Motion generation.
• Path generation
• Chebychev Spacing
• Function generation
• Cognate linkages
• Coupler curve synthesis
• Design of six-bar mechanisms
• Algebraic methods
• Application of instant center in linkage design

Unit 5 Analytical Linkage Synthesis

• Two-Position Motion Generation
• Three-Position Motion Generation
• 8 20% Synthesis for a Specified Fixed Pivot Location
• Analytical Synthesis of a Path Generator with Prescribed Timing
• Analytical Synthesis of a Fourbar Function Generator

Unit 6 Kinematics of Spatial Mechanisms and Robotics

8 lecture hours

• topology arrangements of robotics arms
• Kinematic analysis of spatial RSSR mechanism
• Denavit - Hartenberg parameters
• Forward and inverse kinematics of robotic manipulators
• Study and use of Mechanism using Simulation Soft-ware packages
• References Books: 1
• Theory of Machines and Mechanisms, J
• Pennock and J.E.Shigley
• Oxford University Press. 2
• Kinematics and Dynamics of Machines, R
• McGraw Hill. 3
• Advanced Mechanism Design
• Sandor and G
• Prentice Hall. 4
• Erdman, and S
• Prentice Hall. 5
• Theory of Mechanism and Machines
• A Ghosh and A K Mallik
• Kinematics and Dynamics of Machinery