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