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Course module: 202200107
202200107
Design Principles for Robotic and Mechatronic Mechanisms
Course info
Course module202200107
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact personprof.dr.ir. D.M. Brouwer
E-maild.m.brouwer@utwente.nl
Lecturer(s)
Examiner
prof.dr.ir. D.M. Brouwer
Contactperson for the course
prof.dr.ir. D.M. Brouwer
Examiner
dr.ir. J.J. de Jong
Examiner
dr.ir. M. Nijenhuis
Academic year2022
Starting block
2A
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
Aims
After the course the student comprehends the principles of conceptual design of precision mechanisms and is able to recognize problem areas, to generate design alternatives and to make adequate choices.

After the course the student is able to...
  1. Analyse, design and evaluate precision mechanisms with respect to stiffness
  2. Analyse, design and evaluate precision mechanisms with respect to degrees of freedom and constraints
  3. Design, analyse and evaluate precision mechanisms based on flexure elements
  4. Design and analyse precision mechanisms which inherently have hysteresis and microslip
  5. Design and analyse precision mechanisms with bearings, rollers and webs
  6. Design and analyse precision mechanisms with respect to dynamics and energy management
Design, analyse robotic mechanisms, evaluate alternatives, flexure elements
Content

Please note that the course information below corresponds to the course of ‘21/’22. This course is currently being updated for the MSc Robotics programme and therefore changes in course content might occur.

This course gives insight in the conceptual design of precision mechanisms used in products, tools and equipment. Characteristic to all precision systems is the high level of determinacy required. Predictable and reproducible behavior are key-qualities that can only be achieved when mechanics and control systems (if present) are carefully designed and robust to disturbances. Their mechanical design is the subject of this course. The insight in precision mechanisms enables the student to recognize problem areas, generate design alternatives and make the appropriate choices. Considerable attention will be paid to details, because these can be crucial and decisive for the quality of the design. Important principles for precision mechanism design which will be focused on during the course are: Designing for light and stiff mechanisms, exact kinematic constraint design, design of low-hysteresis mechanisms and designing precision manipulators.
 
Key terms
Design for stiffness, prevention of play and backlash, design of elastic mechanisms, degrees-of-freedom, freedom and constraint topology, beam constraint theory, manipulation, friction, hysteresis and micro-slip, mechanisms based on rolling, belts and cables, energy management, special mechanisms, balancing.

Assessment
The written exam and the group assignment both count for 50% of the final grade. The written exam needs to be equal or more than 4.5, and the group assignment needs to be equal or more than 5.5. If the grade for the group assignment is between 4.5 and 5.5, an addition assignment will be assessed to improve the group assignment to a 5.5.

 
Assumed previous knowledge
ATLAS, the University College;
Industrieel Ontwerpen,
Advanced Technology,
Biomedische Technologie,
Technische Geneeskunde,
Creative Technology,
Electrical Engineering,
Technische Natuurkunde,
Werktuigbouwkunde (in particular the courses on dynamics)
Participating study
Master Robotics
Participating study
Master Mechanical Engineering
Participating study
Master Industrial Design Engineering
Participating study
Master Electrical Engineering
Participating study
Master Biomedical Engineering
Participating study
Master Systems and Control
Participating study
Master Technical Medicine
Required materials
Course material
Lecture sheets
Course material
Soemers HMJR, Design Principles for Precision Mechanism, ISBN 978-90-365-3103-0 . Available online via http://www.t-pointprint.nl/?page id=218
Recommended materials
-
Instructional modes
Lecture

Peer Review
Presence dutyYes

Tests
Written Exam, Group Assignment

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