GSE4801

Intelligent mechanisms design

(ENG)

6 points + 2 lecture hours, 2 laboratory hours and 2 tutorial hours per week (on-campus) + 12 hours of self-directed private study per week (OCDL) + First semester, Gippsland/OCDL + Second semester, Malaysia + Prerequisite: Successful completion of level two of Mechatronics course in addition to GSE3402 and GSE4403

Synopsis: Kinematics representation using Denavit-Hartenberg; homogeneous and differential (Jacobian) transformation. Inverse manipulator kinematics; Jacobians; velocities and static forces. Analysis and mathematical modelling of manipulators dynamics behaviour using Lagrange-Euler dynamics. Methods of manipulators control.

Assessment: Examination: 50% + Assignments/class tests and project work: 50%