1. Basic Course Information |
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| a) Instructor | |||
| Dr. Carl Crane MAE-B 326 352-392-9461 ccrane@ufl.edu |
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| b) Class Meeting Time | |||
| M, W, F 2nd period MAE-B 238 |
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| c) Textbook | |||
| Copies of class text can be purchased at Target Copy Center, University Avenue. | |||
| d) References | |||
| Ball, R. S., "A Treatise on the Theory of Screws," 1900 ; reprinted by Cambridge University Press, 1998. ISBN: 0521636507 |  |
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| Hunt, K., "Kinematic Geometry of Mechanisms," Oxford University Press, 1978, ISBN: 0198561245 |  |
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| Davidson, J. and Hunt, K., "Robots and Screw Theory: Applications of Kinematics and Statics to Robotics," Oxford University Press, 2004, ISBN: 0198562454 |  |
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2. Course Objectives and Outcomes |
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| At the end of the class every student should: | |||
| - be able to understand basic princples of screw theory as applied to velocity analyses and static force analyses, i.e. twists of freedom, dynames, and wrenches | |||
| - be able to perform the forward and inverse kinematic velocity analysis for a serial robot and a parallel robot | |||
| - be able to perform the forward and inverse static force analysis for a serial robot and a parallel robot | |||
| - be able to perform the forward and inverse acceleration analysis for a serial robot manipulator | |||
| Topics that will be covered in the laboratory to meet these objectives: | |||
| * Chapter 1: Geometry of Points, Lines, and Planes * Chapter 2: Coordinate Transformations and Manipulator Kinematics * Chapter 3: Statics of a Rigid Body * Chapter 4: Velocity Analysis * Chapter 5: Reciprocal Screws * Chapter 6: Singularity Analysis * Chapter 7: Acceleration Analysis |
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3. Course Assessment |
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| Grading | <|||
Exam 1 - 20 % |
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4. Other Course Information |
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| - all students must have access to an email account that
they check regularly - late homework will not be accepted - link to academic honesty statement |
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