Studying at York
Mechanical Design & Kinematics - ELE00063H
- Department: Electronic Engineering
- Module co-ordinator: Dr. Jihong Zhu
- Credit value: 20 credits
- Credit level: H
- Academic year of delivery: 2022-23
Module summary
The module introduces students to the fundamentals of Computer-Aided Design (CAD) and Computer-Aided Manufacture (CAM) for mechanical parts, and the kinematics and dynamics of mechanical systems and manipulators with a particular focus on robotic manipulators and interaction with objects. It enables students to design and construct mechanical systems that function under programmed mechatronic control.
Module will run
| Occurrence | Teaching period |
|---|---|
| A | Spring Term 2022-23 to Summer Term 2022-23 |
Module aims
Subject content aims:
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To provide instruction and experience in using Computer-Aided Design (CAD) software for the creation of mechatronic systems
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To explain the formalisation of rigid body motion to forward and inverse kinematics using position and velocity.
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To describe the main types of mechanical joints, jointed robots, and manipulators used in industrial systems and other applications.
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To explain the use of kinematic control for jointed mechatronic systems
Graduate skills aims:
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To explain the mechanical design and control of multiple degree of freedom systems
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To provide an opportunity for gaining experience in designing and controlling robotic manipulators
Module learning outcomes
Subject content learning outcomes
After successful completion of this module, students will:
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Understand how to design mechanical systems using Computer-Aided Design software
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Have experience in fabrication and assembly of mechanical systems using rapid prototyping technologies
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Be proficient at describing rigid body motion in three-dimensional space
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Able to model joints of different types and end effector position for typical robot arm configurations
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Be capable of calculating forward and inverse manipulator kinematics with position, velocity and acceleration
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Implement point-to-point and trajectory arm control by considering joint and end effector forces
Graduate skills learning outcomes
After successful completion of this module, students will be able to:
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Design, construct, and control robotic arms and other mechatronic manipulators
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Build mathematical models of jointed multiple degree of freedom systems
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Create control algorithms for performing simple tasks with jointed robot arms
Indicative assessment
| Task | Length | % of module mark |
|---|---|---|
| Essay/coursework Coursework and Demonstration |
N/A | 100 |
Special assessment rules
None
Indicative reassessment
| Task | Length | % of module mark |
|---|---|---|
| Essay/coursework Coursework and Demonstration |
N/A | 100 |
Module feedback
Formative Feedback:
Lab work with spoken feedback and problem-solving, and immediate help given by lab demonstrators during lab sessions.
Summative Feedback:
Feedback forms with a detailed breakdown of grades provided at the assessment of coursework which occurs at the end of term, returned to the students within three weeks with grades.
Indicative reading
Modern Robotics (Mechanics,Planning and Control), 2017, K.M. Lynch and F. C. Park.
Introduction to Robotics, P.J. McKerrow Addison Wesley 1991.7
Fundamentals for control of robotic manipulators, Koivo, John Wiley, 1989.