Yozgat Bozok University Lifelong Learning Programme

Description of Individual Course Units

Course Unit Code	Course Unit Title	Type of Course Unit	Year of Study	Semester	Number of ECTS Credits
MM505	MECHANICS OF ROBOTIC SYSTEMS	Elective	1	1	7

Level of Course Unit

Second Cycle

Objectives of the Course

Industrial robots mechanical analysis of the specific tools and techniques are presented. Robots designing , motion planning and performance analysis and required mechanical knowledge is given.

Name of Lecturer(s)

Yrd. Doç. Dr. İlhami YİĞİT

Learning Outcomes

1	Learns vectors and the principles of analytical mechanics.
2	Describes robot performance criteria.
3	Makes analysis of straight and reverse speed in robotics.
4	Recognizes the industrial robots mechanical analysis specific tool and techniques .
5	Wins mechanical knowledge in robot design, motion plan and performance analysis.

Mode of Delivery

Formal Education

Prerequisites and co-requisities

None

Recommended Optional Programme Components

None

Course Contents

Fundamentals of vectorial and analytical mechanics. Denavit-Hartenberg parameters. Robot transformation matrix. Direct and inverse position analyses. Trajectory planning. Robot Jacobian. Direct and inverse velocity analyses. Workspace analysis. Statics of robots. Robot equations of motion: Lagrange-Euler and Newton-Euler formalisms. Robot performance criteria.

Weekly Detailed Course Contents

Week	Theoretical	Practice	Laboratory
1	Introduction to Robot mechanics.
2	Vector and analytical principles of mechanics.
3	Denavit-Hartenberg parameters. Transformation matrix of the robot.
4	Analysis of flat and inverted position in robotics.
5	Trajectory planning.
6	Jacobian of robotics.
7	Analysis of straight and reverse speed in robots.
8	Midterm examination.
9	Determination of the robot working space.
10	Statics of the robot.
11	Lagrange-Euler and Newton-Euler equations of the robot's movement.
12	Robot performance criteria.
13	Methods of modeling and control of robots.
14	Robot arm simulation and control applications.
15	Robot arm simulation and control applications.
16	Final examination.

Recommended or Required Reading

Robotic, Phillip J. McKerrow, Addision Wesley, USA. Industrial Robotics M.K. Groower.,M. Weiss, Mc-Graw Hill Comp., England. Fundamentals for Robotic Manipulators,Antti J. Koivo, John Wiley Sons, USA Yoshikawa, T., Foundations of Robotics: Analysis and Control, MIT Press, 1990. Angeles, H., Fundamentals of Robotic Mechanical Systems, Springer, 1997. Schilling, R. J., Fundamentals of Robotics: Analysis and Control, Prentice Hall, 1990. Asada, H., Slotine, J. J., Robot Analysis and Control, Wiley, 1986. Wolovich, W. A., Robotics: Basic Analysis and Design, H.R.W.,

Planned Learning Activities and Teaching Methods

Assessment Methods and Criteria

Term (or Year) Learning Activities	Quantity	Weight
Midterm Examination	1	80
Homework	12	20
SUM		100
End Of Term (or Year) Learning Activities	Quantity	Weight
Final Examination	1	100
SUM		100
Term (or Year) Learning Activities		40
End Of Term (or Year) Learning Activities		60
SUM		100

Language of Instruction

Turkish

Work Placement(s)

None

Workload Calculation

Activities	Number	Time (hours)	Total Work Load (hours)
Midterm Examination	1	2	2
Final Examination	1	2	2
Quiz	2	1	2
Attending Lectures	14	2	28
Self Study	5	6	30
Individual Study for Homework Problems	14	1.5	21
Individual Study for Mid term Examination	1	14	14
Individual Study for Final Examination	1	25	25
Homework	14	3	42
TOTAL WORKLOAD (hours)			166

Contribution of Learning Outcomes to Programme Outcomes

LO1

LO2

LO3

LO4

LO5

* Contribution Level : 1 Very low 2 Low 3 Medium 4 High 5 Very High