units

MEC4456

Faculty of Engineering

18 September 2017 20 April 2024

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This unit entry is for students who completed this unit in 2016 only. For students planning to study the unit, please refer to the unit indexes in the the current edition of the Handbook. If you have any queries contact the managing faculty for your course or area of study.

Monash University

6 points, SCA Band 2, 0.125 EFTSL

Undergraduate - Unit

Refer to the specific census and withdrawal dates for the semester(s) in which this unit is offered.

Faculty

Engineering

Organisational Unit

Department of Mechanical and Aerospace Engineering

Coordinator(s)

Dr Chao Chen (Clayton)

Offered

Clayton

  • First semester 2016 (Day)

Synopsis

Spatial descriptions and transformations. Manipulator forward and inverse kinematics. Differential relationships and Jacobian. Manipulator dynamics: Lagrangian and Newton Euler formulations. Design of mechanisms and end-effectors. Actuation, sensing and control. Computational geometry for design, manufacture, and path planning. Robotics in manufacturing and automation. Techniques for modelling, simulation and programming of robotic tasks. Advanced mathematical formulations. Introduction to advanced robotics. A self-directed learning component completes the unit.

Outcomes

Students are expected to gain the ability to appreciate, design, analyse and control robotic mechanisms.

This will include:

  1. solve problems of direct and inverse kinematics
  2. derive robotic dynamics models by using both Lagrangian formula and New-Euler equations
  3. design linear and nonlinear motion controllers and force controllers
  4. program robotic tasks via methods in path planning and kinematics
  5. evaluate the design and performance of serial robotic manipulators in terms of kinematics, workspace and dynamics

Assessment

Examination (3 hours): 70%
Project and laboratory work: 30%
Students are required to achieve at least 45% in the total continuous assessment component and at least 45% in the final examination component and an overall mark of 50% to achieve a pass grade in the unit. Students failing to achieve this requirement will be given a maximum of 45% in the unit.

Workload requirements

3 hours lectures, 3 hours laboratories/tutorials and 7 hours of private study per week.

See also Unit timetable information

Chief examiner(s)

Professor Chris Davies

Prerequisites

MEC3457

Prohibitions

TRC4800