Robotics and Mechatronics

  1. Mechanical Systems in Robotics
    1. Kinematics of Manipulators
      1. Degrees of Freedom
        1. Definition and Calculation
          1. Constraints and Redundancy
            1. Mobility Analysis
            2. Coordinate Frames and Transformations
              1. Reference Frames
                1. Frame Assignment
                  1. Coordinate System Conventions
                  2. Homogeneous Transformation Matrices
                    1. Construction and Properties
                      1. Composition of Transformations
                        1. Inverse Transformations
                        2. Forward Kinematics
                          1. Denavit-Hartenberg Parameters
                            1. D-H Convention
                              1. Assigning D-H Parameters
                                1. Modified D-H Convention
                                2. Computation of End-Effector Position
                                  1. Joint Space to Cartesian Space Mapping
                                  2. Inverse Kinematics
                                    1. Analytical Solutions
                                      1. Closed-Form Solutions
                                        1. Existence and Uniqueness
                                          1. Multiple Solutions
                                          2. Numerical Solutions
                                            1. Iterative Methods
                                              1. Newton-Raphson Method
                                                1. Convergence and Stability
                                              2. Jacobian Matrix
                                                1. Derivation of the Jacobian
                                                  1. Geometric Jacobian
                                                    1. Analytical Jacobian
                                                      1. Velocity Analysis
                                                        1. Force and Torque Analysis
                                                          1. Singularity Analysis
                                                            1. Types of Singularities
                                                              1. Boundary Singularities
                                                                1. Interior Singularities
                                                                  1. Implications for Control
                                                              2. Dynamics of Manipulators
                                                                1. Lagrange Formulation
                                                                  1. Generalized Coordinates
                                                                    1. Kinetic Energy
                                                                      1. Potential Energy
                                                                        1. Lagrangian Equations of Motion
                                                                        2. Newton-Euler Formulation
                                                                          1. Recursive Newton-Euler Algorithm
                                                                            1. Forward Recursion
                                                                              1. Backward Recursion
                                                                                1. Force and Torque Calculations
                                                                                2. Inertia Tensor
                                                                                  1. Definition and Calculation
                                                                                    1. Principal Axes
                                                                                      1. Physical Interpretation
                                                                                      2. Equations of Motion
                                                                                        1. Mass Matrix
                                                                                          1. Coriolis and Centrifugal Terms
                                                                                            1. Gravity Terms
                                                                                              1. Derivation and Solution
                                                                                                1. Simulation of Dynamic Behavior
                                                                                              2. Mechanism Design
                                                                                                1. Linkages
                                                                                                  1. Four-Bar Linkages
                                                                                                    1. Six-Bar Linkages
                                                                                                      1. Parallel Mechanisms
                                                                                                        1. Serial Mechanisms
                                                                                                        2. Gears and Gear Trains
                                                                                                          1. Spur Gears
                                                                                                            1. Helical Gears
                                                                                                              1. Planetary Gears
                                                                                                                1. Gear Ratios and Efficiency
                                                                                                                  1. Backlash and Precision
                                                                                                                  2. Cams and Followers
                                                                                                                    1. Types of Cams
                                                                                                                      1. Cam Profiles
                                                                                                                        1. Motion Profiles
                                                                                                                          1. Follower Types
                                                                                                                          2. Bearings and Fasteners
                                                                                                                            1. Ball Bearings
                                                                                                                              1. Roller Bearings
                                                                                                                                1. Plain Bearings
                                                                                                                                  1. Selection Criteria
                                                                                                                                    1. Fastening Methods
                                                                                                                                  2. Materials and Manufacturing
                                                                                                                                    1. Material Properties and Selection
                                                                                                                                      1. Strength
                                                                                                                                        1. Stiffness
                                                                                                                                          1. Toughness
                                                                                                                                            1. Weight Considerations
                                                                                                                                              1. Cost Considerations
                                                                                                                                                1. Environmental Factors
                                                                                                                                                2. Additive Manufacturing
                                                                                                                                                  1. Fused Deposition Modeling
                                                                                                                                                    1. Stereolithography
                                                                                                                                                      1. Selective Laser Sintering
                                                                                                                                                        1. Materials for 3D Printing
                                                                                                                                                          1. Design for Additive Manufacturing
                                                                                                                                                          2. Subtractive Manufacturing
                                                                                                                                                            1. CNC Machining
                                                                                                                                                              1. Milling Operations
                                                                                                                                                                1. Turning Operations
                                                                                                                                                                  1. Tolerances and Surface Finish
                                                                                                                                                                    1. Tool Selection

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