UDE Module Database - Kinematics of Robots and Mechanisms

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The language was changed to English.

Course Type (SWS)

Lecture: 2 │ Exercise: 1 │ Lab: 0 │ Seminar: 0

Exam Number:	ZKB 40461
Type of Lecture:	Presentation/lecture with chalk at the board; illustrations with Powerpoint, slides and computer simulations; voluntary participation in practical trainings in the laboratory with industrial robot (Kuka KR15, Kuka KR6).
Language:	English
Cycle:	SS
ECTS:	4

    Exam Type
        Written Exam (120 min.)  

assigned Study Courses

M.Sc. Applied Computer Sience (Intelligent Systems and Scientific Calculation), PO12 - M-AI(ITSWR)-12 (Elective Subject)
M.Sc. Automation and Safety (Safe Systems), PO19 - M-AS(SaSy)-19 (Elective Subject)
M.Sc. Cyber Physical Systems (Informatiker), PO21 - M-CPS(IN)-21 (Elective Subject)
M.Sc. Cyber Physical Systems (Ingenieure), PO21 - M-CPS(ING)-21 (Elective Subject)
M.Sc. Industrial Engineering (Mechanical Engineering and Management), PO09 - M-WI(MB)-09 (Elective Subject)
M.Sc. Industrial Engineering (Mechanical Engineering and Management), PO19 - M-WI(MB)-19 (Elective Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO13 - M-MB(AMB)-13 (Mandatory Subject)
M.Sc. Mechanical Engineering (Mechatronics), PO13 - M-MB(ME)-13 (Mandatory Subject)
M.Sc. Mechanical Engineering (Energy and Environmental Engineering), PO15 - M-ME(EEE)-15 (Elective Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO15 - M-ME(GME)-15 (Mandatory Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO15 - M-ME(GME)-15 (Elective Subject)
M.Sc. Mechanical Engineering (Mechatronics), PO15 - M-ME(ME)-15 (Elective Subject)
M.Sc. Mechanical Engineering (Production and Logistics), PO15 - M-ME(PL)-15 (Elective Subject)
M.Sc. Mechanical Engineering (Ship and Offshore Technology), PO15 - M-ME(SOT)-15 (Elective Subject)
M.Sc. Mechanical Engineering (Energy and Environmental Engineering), PO19 - M-ME(EEE)-19 (Elective Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO19 - M-ME(GME)-19 (Elective Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO19 - M-ME(GME)-19 (Mandatory Subject)
M.Sc. Mechanical Engineering (General Mechanical Engineering), PO19 - M-MB(AMB)-19 (Mandatory Subject)
M.Sc. Mechanical Engineering (Mechatronics), PO19 - M-ME(ME)-19 (Elective Subject)
M.Sc. Mechanical Engineering (Mechatronics), PO19 - M-MB(ME)-19 (Mandatory Subject)
M.Sc. Mechanical Engineering (Production and Logistics), PO19 - M-ME(PL)-19 (Elective Subject)
M.Sc. Mechanical Engineering (Ship and Offshore Technology), PO19 - M-ME(SOT)-19 (Elective Subject)
M.Sc. Mechanical Engineering (Turbomachinery), PO19 - M-ME(TM)-19 (Elective Subject)
M.Sc. Medical Engineering (Biomedical Engineering), PO15 - M-MedT(BMT)-15 (Elective Subject)
M.Sc. Medical Engineering (Telemedicine), PO15 - M-MedT(TM)-15 (Elective Subject)
M.Sc. Medical Engineering (Biomedical Engineering), PO19 - M-MedT(BMT)-19 (Elective Subject)
M.Sc. Medical Engineering (Telemedicine), PO19 - M-MedT(TM)-19 (Elective Subject)

assigned People

Prof. Andrés Kecskeméthy

assigned Modules

Information

Deutsch
English

Beschreibung:	Schwerpunkt der Veranstaltung ist die Kinematik von Getrieben und Robotern. Folgende Aspekte werden erläutert: - Vektorräume - Kinetostatisches Übertragungsprinzip, Dualität der Bewegungs- und Kraftübertragung - Räumliche Bewegungen - Beschreibung von Drehungen (Euler-Winkel, Drehzeiger, Rodrigues-Parameter, Quaternionen) - Infinitesimale Drehungen - Kinematik serieller Ketten und Roboter, Denavit-Hartenberg-Parametrisierung - Kinematik geschlossener Schleifen (Zählung von Freiheitsgraden mit Grübler-Kutzbach-Kriterium, Kopplung von mehrschleifigen Systemen, kinematische Netze, Methode der kinematischen Transformatoren)
Lernziele:	Vermittlung der theoretischen Grundlagen der kinematischen Zusammenhänge serieller und paralleler Roboter und Mechanismen. Die Studierenden werden in die Lage versetzt, selbständig industrierelevante Probleme aus kinematischer Sicht zu erarbeiten.
Literatur:	Bottema , Roth: Theoretical Kinematics Dover Publications Hunt: Kinematic Geometry of Mechanisms Oxford Universits Press Altmann: Rotations, Quaternions and Double Groups Dover Publications Paul: Robot Manipulators: Mathematics, Programming and Control The MIT Press
Vorleistung:
Infolink:
Bemerkung:	The course is recommended as a companion course to "Multibody Systems" alter Titel: Kinematik von Robotern und Mechanismen.

Description:	Emphasis of the lecture is the kinematics of mechanisms and robots. The following aspects are regarded: - Vector spaces - Kinetostatic transmission, duality of transmission of motion and forces, power transmission - Parameterizations of rotations (Euler angles, rotation vector, Quaternions, Rodrigues parameters) - Infinitesimal rotations - Kinematics of serial chains and robots, Denavit-Hertenberg parameters - Kinematics of closed loops (counting of degrees of freedom using Grübler-Kutzbach formula, coupling of multiloop systems, kinematical networks, method of kinematical transformers)
Learning Targets:	Conveying of the theoretical foundations governing the kinematics of serial and closed spatial mechanisms. The students will develop the skills necessary to handle industry-relevant problems related to the kinematics of spatial motion.
Literature:	Bottema , Roth: Theoretical Kinematics Dover Publications Hunt: Kinematic Geometry of Mechanisms Oxford Universits Press Altmann: Rotations, Quaternions and Double Groups Dover Publications Paul: Robot Manipulators: Mathematics, Programming and Control The MIT Press
Pre-Qualifications:
Info Link:
Notice:	The course is recommended as a companion course to "Multibody Systems" alter Titel: Kinematik von Robotern und Mechanismen.

Module Database
Faculty of Engineering

Kinematics of Robots and Mechanisms
Kinematics of Robots and Mechanisms