Syllabus

   1. Introduction and Basic Concepts

      Degree of Freedom, Grübler’s Equation, Classification of Mechanisms, Kinematic Inversion, Enumeration

2. Position Analysis of Mechanisms

      Joint variables, Loop Closure Equations, Solution Techniques for Loop Closure Equations

3. Velocity and Acceleration Analysis of Mechanisms

      Velocity Analysis and Singular Positions, Acceleration Analysis

4. Four Link Mechanisms

      Four Bar Mechanism: Grashof’s Rule, Dead Center Positions, Transmission Angle, Mechanical Advantage, Body Guidance (Three Position Synthesis). Slider-Crank Mechanism.

5. Gear Trains

      Simple Gear Trains, Planetary Gear Trains

6. Vectorial Force Analysis

      Static force analysis, Dynamic force analysis