Welcome to Machine and Mechanism Theory’s website!

This site contains course material for subject 44102207 (“Teoría de Mecanismos / Machine and Mechanism Theory”) taught by the Mechanical Engineering area of the Engineering Department (University of Almería).

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