Analytical Methods in Spatial Mechanis

Course content

Loop equations for spherical and spatial n-gons: Primary and secondary fundamental, subsidiary, half-angle laws. Dual numbers, quarternions, theory of elimination. Analytical displacement analysis of robot-manipulators via equivalent mechanisms. An introduction to symbolic manipulation. Points, lines, planes, screws. Screw algebra. Static, velocity and acceleration analysis of mechanisms and manipulators via screw algebra. (F)