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Machine and Mechanism Theory documentation
Course contents:
Lesson 1: Basic concepts on Mechanisms
Definitions
Links and joints
Four bar linkage
Six bar linkage
Other well-known mechanisms
Determining the d.o.f. count
DOF solved problems
Problems: Determine kinematic chain
Lesson 3: Rigid body dynamics. Analytical methods.
Introduction to Dynamics
Particle dynamics
Rigid solid dynamics
Inertia calculation in 2D
Equations of motion
Angular momentum and balancing
D’Alembert principle
Problems
Lesson 9: Kinematics of Robots
Rotation and translation transformations
Robot Forward Kinematics Simulator
Bibliography
Credits
.md
.pdf
D’Alembert principle
D’Alembert principle
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