SYLLABUS

KINEMATICS OF MACHINES [] FALL 2014

INSTRUCTOR
Blaine Levedahl, G30 Designated Associate Professor [ ]
Office: Eng. Building No. 3, North Wing, Room 235 [ 3 2 235 ]
Email: blaine@nuem.nagoya-u.ac.jp Phone: 052-789-2798
Class Webpage: www.suzlab.nuem.nagoya-u.ac.jp/~levedahl/classes.html
Office Hours: Monday 13:30-14:30 & Thursday 10:30 - 11:30 or by appointment.

COURSE DESCRIPTION
In this course students will learn to analyze basic mechanisms commonly found in
automobiles, aircraft, and fabrication devices. Students will also be encouraged to apply
these basic mechanisms to enhance their understanding of the mechanical world around
them. By the end of the course, students will be able to analyze the position, velocity, and
acceleration of elements of single and multiple degrees-of-freedom linkages and understand
and analyze the different methods of motion transmission.

PREREQUISITE SUBJECTS
Calculus () & Linear Algebra ()

TEXTBOOK & RECOMMENDED READING 1

Kinematics and Dynamics of Machines, G. Martin, ISBN: 9781577662501
Introduction to Robotics: Mechanics & Control, J. Craig, ISBN: 9780201543612

ASSIGNMENTS & GRADING

Students must obtain a letter grade of C or above to pass the course. Letter grades are
assigned based on the percentages given in the left-hand table below. The semester
percentile grades are based on the breakdown in the right-hand table below. Homework
assignments will be graded based on a 10 point scale. The mid-term exam and final exam
will be based on a 100 point scale.
Letter Grade Distribution
S
100% - 90%
A
89% - 80%
B
79% - 70%
C
69% - 60%
F
59% - 0%

Grade Percentage Breakdown

Homework Assignments
40%
Mid-term Exam
30%
Final Exam
30%
Total
100%

EXAM & HOMEWORK POLICY

Students are permitted and encouraged to discuss solutions to homework problems to better
each others understanding of the subject. However, each student must turn in his/her own
homework. Homework is due at the beginning of class on the assigned due date. Late

Copies are available in library

homework will not be accepted. Exams will be closed book and closed notes. The student is
responsible for both the readings and the lecture materials.

SCHEDULE
The term includes 13 lectures. The readings should be complete prior to the class.
Topic

Week
Date

1
10-7

Subtopics
Topic 1: Introduction & Background.

10-14

HW #1 Assign

Martin
S: 1.15-1.17,
2.1-2.9, & 9.3

4-bar linkages.
Slider-crank linkage.
Position Analysis

Martin
S: 3.1-3.15,
9.2, & 9.4

HW #1 Due
HW #2 Assign

Topic 4: Velocity Analysis of Mechanisms Part 1

Martin
S: 6.1-6.6.
9.2, & 9.4

Martin
S: 4.1-4.12 &
5.1-5.8

HW #2 Due
HW #3 Assign

Martin
S: 7.1-7.7,
9.2, & 9.4

Graphical & numerical differentiation & integration.

Kinematic modeling approaches Matlab.

Martin
S: 8.1-8.5

HW #3 Due

Mid-term Exam Covers Topics 1-5

HW #4 Assign

Types of open-chain mechanisms.

Coordinate transformations
Combing position and orientation homogenous
transformations.

Craig
S: 1.1-1.3 &
2.1-2.8

Topic 7: Open-Chain Mechanisms Part 2

Craig
S: 3.1-3.9,
4.1, 4.2, &
5.7-5.9

HW #4 Due
HW #5 Assign

Martin
S: 10.1-10.26

Martin
S: 12.1-12.22

HW #5 Due
HW #6 Assign

Martin
S: 13.1-13.8

Topic 10: Application of Kinematic Analysis - Engines

In-line multi-cylinder engines
V-type & opposed engines

TBD

HW #6 Due

Final Exam

Frames, coordinate systems, vectors, & complex numbers.

General rigid-body motion.
Special cases of rigid-body motion.

Topic 3: Closed-Chain Mechanisms

3
10-21

4
10-28

5
11-4

Velocity solutions through vector analysis.

Velocity solutions through relative velocity.

Topic 4: Velocity Analysis of Mechanisms Part 2

Velocity analysis
Velocity pole - instantaneous center of rotation.

Topic 5: Acceleration Analysis of Mechanisms

6
11-11

7
11-18

8
11-25

Homework

Martin
S: 1.1-1.14

What is kinematics of machines?

Types of mechanisms & terminology.

Topic 2: Rigid-Body Motion

Readings

Acceleration analysis
Relative acceleration
Coriolis acceleration

Topic 6: Computer Simulation of Kinematics

Topic 7: Open-Chain Mechanisms Part 1

9
12-2

10
12-9

Denavit-Hartenberg notation.
Forward & inverse kinematics.
Jacobian matrix.

Topic 8: Motion Transmission through Cams

11
12-16

Overview and types of cams.

Specifying motion of cams.
Design of cams.

Topic 9: Motion Transmission through Gears Part 1

12
12-23

13 & 14
12-30 & 1-6

15
1-13

16
1-20

17
1-27

Types of gears Helical, bevel, spiral bevel, worm, rack and

pinion, planetary.
Gear nomenclature sizes, number of teeth, etc.
Involute gears.

Winter Break No Class

Topic 9: Motion Transmission through Gears Part 2
Gear trains & gear ratios.
Mechanical advantage.