- Quasi-Static Force/Torque Analysis using Virtual Work Method

- Forward and Inverse Dynamic Analyses of Industrial Robots using the Newton- Euler and Lagrange’s Equations

- Robot Control Methods:

a) Independent Joint Controllers

b) Computed Torque Method


This class is intended to provide the graduate students with the necessary knowledge of basic statistics, experimental design and planning as well as analysis of experimental results. We will dwell into statistics in the first 9 weeks before beginning the project part of the class which will cover 5 weeks of intensive work on project plan preparation, use of software with mock data to analyze results, actually running the experiments, and a presentation of the measured and analyzed data.


Introduction

Scissor mechanisms

Polygonal and polyhedral linkages

Polyhedral linkages with planar link groups

Overconstrained linkages

Purely spatial deployable structures (PSDSs) composed of single dof loops

Purely spatial deployable structures (PSDSs) composed of multi dof loops

Jitterbug like linkages

COURSE CONTENT

Introduction, mathematical tools used in kinematic synthesis of mechanisms, approximation methods, function generation, path generation, motion generation.

The main objective of this course is to introduce the students the basics of modern control systems and to provide them with a background on the state variable approach.


• State Space Representation

• Solution of State Equations

• Controllability and Observability

• Lyapunov Stability

• Controller Design with State Feedback

• Observer Design


The course objective is to introduce the students to the principles of robotics. In particular, the course will cover spatial kinematics, forward and inverse kinematics analyses of industrial robots.

- Spatial Kinematics 

- Kinematic Modeling Using the Denavit-Hartenberg Approach 

- Position, Velocity, and Acceleration Forward and Inverse Analyses 

- Singularity Analyses


ME524 Experimental Design (Spring 2017)

Introduction to Wind Energy

The course will be concentrated on internal combustion engines, in-cylinder measurements and analysis. After a fundamental review of internal combustion engines, students will learn the new technologies associated to engines and the techniques (experimental and
numerical) used in engines research.