Focus is on robotic manipulators, and classical analysis of rigid body kinematics, statics, friction, and dynamics. The nature of the projects will vary. The student prepares lecture notes on some topic related to the course material, and gives a 25-minute lecture. The student identifies a manipulation problem, works out the mechanics of an example or a simple case, and writes a brief report. Completed projects will be distributed to the class.
Proposals are due the end of fourth week of the term.
Team projects will be permitted, where appropriate. One or more of the problems needs to be done again and turned back in to receive credit. Displacements, configurations, rigid bodies. Motion in the plane, motion in three-space, Chasles' theorem, screws and twists, kinematic constraint, representing motion. Kinematic manipulation .