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The language was changed to English.
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).
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)
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.
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
The course is recommended as a companion course to "Multibody Systems" alter Titel: Kinematik von Robotern und Mechanismen.
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)
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.
