ME 3230 Kinematics and Mechatronics Syllabus

Semester: Spring, 2013 Instructor: Debao Zhou, Ph.D. Class website: http://www.d.umn.edu/~dzhou/ME3230.html Office: EB 213; phone: 218-726-6648; email: dzhou@d.umn.edu Office Hours: 10:00 am - 11:00 am, MWF or by appointment Class Time & location: 9:00 9:50AM, MWF @ VKH221 Or Computer labs: 9:00 9:50AM, W @ EB 204 Prerequisites: ME3140, System Dynamics and Control Math 3298, Calculus III Text: Required: (1) Kinematics, Dynamics and Design of Machinery, 2nd edition, Waldron and Kinzel, J. Wiley & Sons, 2003. Additional readings from: (2) Theory of Machines & Mechanisms, 3rd edition, Uicker, Pennock & Shigley, Oxford Press, 2003. (3) Robot Dynamics and Control, Spong and Vidyasagar, J. Wiley and Sons, 1989. (4) Kinematics, a Graphical Approach, J. Kange, Prentice Hall, 1995. (5) Mechatronics, Electrical Control Systems in Mechanical & Electrical Engineering, 3rd edition, W. Bolton, Pearson/Prentice Hall, 2003. Grading: Homework: 20% Quizzes/Instructor Reserve: 10% Midterms (2): 20% each Final: 30% (cumulative) Bonus-points policy Final Exam: 8:00am-9:55am, Monday, May 13, 2013 Tentative Lecture Schedule:** Week Topics Text Box Reading 1(1/21) Introduction to Mechanisms Chapter 1 (text) pgs 1 47 2 Constraints, Mobility, Limits, etc. Cont. {HW*} 3 Graphical Analyses of Mechanisms Chapter 2 {HW*} 4 Rolling/Sliding Contacts, etc. Chapter 3 {HW*} 5 Instant Centers of Velocity Chapter 4 (MidTerm I this Friday) 6 Analytical Linkage Analysis Chapter 5 {HW*} 7 Continuing continuing 8 Planer Linkage Design/ Special Mechanisms Chapter 6 {HW*} (03/18) Spring break 9 CAM Design Chapter 8 {HW*} 10 Spatial Linkages Robotics Chapter 9 (MidTerm II this Friday) 11 D-H and Robotic FKS SV Chapter 3 {HW*} 12 Robotic IKS (spherical wrist) SV Chapter 4 {HW*}
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13 Robotic Jacobian and Velocity Models SV Chapter 5 {HW*} 14 Mechatronics Sensors/ Actuators Outside Readings 15 Mechatronics Controllers/Programming Outside Readings *(Homework problems are assigned) ** Several Wednesday or Tuesday we will be in KPlz 143 or EB 204 learning Solideworks /Matlab /Mathematica kinematic design package Course Objectives: This course will: Develop analytical models of various open and closed loop kinematic structures. Analyse 4-bar, Slider-Crank, CAM and higher order closed kinematic structures as well as robots and other complex open kinematic structures. Develop efficient kinematic linkage models based on Denavit-Hartenberg structural algorithms. Apply appropriate modeling tools including Matlab/Simulink, Mathematica and/or Solideworks to simulate and control simulated system models. * Provide an exploration of active sensors or other mechatronics products and ideas to develop controllable structures and mobile devices. Upon course completion students will have a working knowledge of Graphical and Analytical Kinematics of Structures. Upon course completion students will have a working knowledge of Denavit-Hartenberg Kinematic Modeling of Structures. Upon course completion students will be have a working knowledge of kinematic models based in vector calculus. Upon course completion students will be able to design kinematic structures to achieve controlled linear and angular motions. * Upon course completion students will be able to select and model mechatronic sensors and systems.

Program Goals: Mechanical Engineering graduates will have:

A. An ability to apply knowledge of mathematics, science and engineering appropriate to a mechanical engineer E. An ability to identify, formulate and solve mechanical engineering problems I. Develop recognition of the need for, and the ability to, engage in life-long learning K. An ability to use the techniques, skills, and modern engineering tools necessary for mechanical engineering practice

Attendance: Attendance may be taken! Excessive absenteeism (4 or more times) will result in a lower grade! Furthermore: The Instructor views class attendance as a mandatory part of your professional behavior. It is expected that each student view their education as Their Job during this portion of their career. As engineers, each and every one of us strives to be the Best we can Be, thus it is imperative that we attend and participate fully in each classroom and lab experience. This, then, implies that reading assignment be completed before class time, reports and homework be prepared in advance of due dates and each student be prepared to discuss topics of interest to this class subject within the classroom and lab. Assignment Policy: All assignments will receive a (substantial) point reduction for every class day they are late.

Un-excused late assignments will lose 10% per late day. Exams can only be Made-up before the scheduled day (if the regular time can not be made). Professional courtesy (email or phone message) is expected if late assignments, missing classes or missing exams as the result of medical or personal needs occur. Any unanticipated problems will be addressed ad hoc. As an aspiring automation engineer, I expect that all attendees will put in maximum effort to accomplish all required tasks for this course. As a rule of thumb, most engineering professors assume a commitment of 3 hours of outside effort for each classroom hour. This time demand is a sliding effort some weeks will have a heavier burden than others. (But, overall, the time commitment should be as follows: considering that we will have 15 class weeks * 3 class hours/ wk * 3 hour/class Hour = 135 hour + 45 class hours = 180 hours of total effort to achieve a working knowledge of the topics covered in this class.) As you prepare homework assignments and reports, please do not hesitate to consult with me, however, please attempt an assignment before approaching me as the maximum benefit will always come from the trying and retrying rather than just from getting the right answer. Make-up and Incomplete Policies: Any make-up will be considered late and have points deducted accordingly unless extenuating circumstances are evident. An incomplete will only be available by prior agreement with the instructor (before the Final Exam date). It is expected that all attendees will be able to complete all work assignments during the term. This will be assured by regular attendance and attention to the course. Thus, nothing outside of a medical emergency should require the incomplete grade! Academic Dishonesty: In the case of writing or drawing, this means you are trying to pass off someone else's work as your own. To prevent this, don't plagiarize material and be sure to make liberal use of references (which means you have substantial references and bibliography!). In the case of exams, it is cheating. The penalty for cheating or plagiarism will be an "F" in the class! Exam are Open Book/Open Notes, however, if any old examinations are brought to the classroom or any questions are copied during the exam, a severe point reduction will be taken for that exam. Academic dishonesty tarnishes UMD's reputation and discredits the accomplishments of students. UMD is committed to providing students every possible opportunity to grow in mind and spirit. This pledge can only be redeemed in an environment of trust, honesty, and fairness. As a result, academic dishonesty is regarded as a serious offense by all members of the academic community. In keeping with this ideal, this course will adhere to UMD's Student Academic Integrity Policy, which can be found at www.d.umn.edu/assl/conduct/integrity. This policy sanctions students engaging in academic dishonesty with penalties up to and including expulsion from the university for repeat offenders. University's Student Conduct Code: (http://www.d.umn.edu/assl/conduct/code). Appropriate classroom conduct promotes an environment of academic achievement and integrity. Disruptive classroom behavior that substantially or repeatedly interrupts either the instructor's ability to teach, or student learning, is prohibited. Disruptive behavior includes inappropriate use of technology in the classroom. Examples include ringing cell phones, text-messaging, watching videos, playing computer games, doing email, or surfing the Internet on your computer instead of note-taking or other instructor-sanctioned activities." Statement on Participation: It is University policy to provide, on a flexible and individualized basis, reasonable accommodations to students who have disabilities that may affect their ability to participate in course activities or to meet course requirements. Students with disabilities are encouraged to contact their instructors to discuss their individual needs for accommodations
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The University of Minnesota is committed to the policy that all persons shall have equal access to its programs, facilities, and employment without regard to race, color, creed, religion, national origin, sex, age, marital status, disability, public assistance status, veteran status, or sexual orientation.