Florida International
University, Mechanical and Materials Engineering Department
Spring, 2018
Syllabus
INSTRUCTOR: Dr. Wei-Yu Bao,
room: EC 3234, phone: 305.348.6863, email: baow@fiu.edu,
web: http://web.eng.fiu.edu/~wbao, office hours: 3:45 4:45
PM, Tuesdays and Thursdays
CLASSROOM: EC 3239
SCHEDULE: 6:25 7:40 PM, Tuesdays and Thursdays, Section: U01,
class#: 24118
TEXTBOOKS: Kinematics, Dynamics, and Design of
Machinery, 3E (or 2E), by Kenneth J. Waldron, Gary L. Kinzel,
John Wiley & Sons Inc., ISBN: 9780471244172
Introduction
to Robotics: Mechanics and Control, 3E (or 2E), by John J. Craig, Pearson Publishing
Company, 2004, ISBN: 9780201543612
OBJECTIVES: To introduce
the fundamentals of mechanism and robotics which include analysis of linkage
mechanism, modeling and control of manipulators for mechanical engineering
design.
TENTATIVE LECTURE CONTENTS:
1. Introduction
to Mechanism Design and Robotics
2. Concepts of Mechanism, Types of joints, DOF, Connectivity
and Mobility
3. Graphical
Position, Velocity, and Acceleration Analysis
4. Analytical Linkage Analysis
Exam 1
5. Spatial
Descriptions and Transformations
6. Manipulator
Kinematics
7. Inverse
Manipulator kinematics
8. Jacobians, Velocities and
Static Forces
9. Manipulator Dynamics
Exam 2
10. Control
of Robotic Systems
11. Manipulator
Design and Control Simulation
Final Project Presentation
GRADING POLICIES:
Homework: 22%, Homework assignments have to be
submitted on time. Late homework will have 20% per day penalty.
Quizzes: 8%, Pop-up quizzes will be given in the
class without previous announcement, open books and notes. There is no make-up
quiz.
Exams: 46%, Two exams
will be given in the class, open books and notes. A makeup exam will be given
only under unusual circumstances. A written request for a makeup exam must be
provided.
Projects: 24%, Project assignments have to be
submitted on time. The final project will be presented in the class.
Grade: A = 95.0 100 C+
= 76.7 79.9
A- = 90.0 94.9 C
= 70.0 76.6
B+ = 86.7 89.9 D
= 60.0 69.9
B = 83.3 86.6 F
= below 60.0
B-
= 80.0 83.2
ME Program Educational Objectives:
|
Broad and in-depth knowledge of engineering science and principles in
the major fields of Mechanical Engineering for effective engineering
practice, professional growth, and as a base for life-long learning. |
|
Hands-on experience with available instruments and lab techniques to
bridge classroom learning and practical, real-life problems. |
|
The ability to utilize analytical and experimental methods and modern
computer technology for decision-making and engineering design and to solve
realistic engineering problems. |
|
The ability to work effectively with others in a team while
simultaneously maintaining independent and creative thought. |
|
The ability to communicate effectively and to articulate technical
matters using verbal, written, and graphic techniques. |
|
An adequate background to pursue graduate studies in engineering and
other fields. |
|
A sense of professional and social responsibility, including a
commitment to protect both occupational and public health and safety,
developed through consideration of moral, social, and ethical paradigms
related to the engineering profession and practice. |
ME Program Outcomes:
|
A. Ability to apply knowledge of mathematics including statistics,
multivariable calculus and differential equations, science including physics,
and engineering. |
|
C. Ability to design a
system, component, or process to meet desired needs. E. Ability to identify, formulate, and solve engineering problems. F. Understanding of
professional and ethical responsibility. |
|
G. Ability to communicate effectively. |
|
I. Recognition of the need for,
and an ability to engage in life-long learning. |
|
K. Ability to use the techniques, skills and modern engineering tools
necessary for engineering practice. |