ME 379 (18365) and ME 397 (18600)

Robot Mechanism Design

Fall 2015

Instructor:
Prof. Ashish Deshpande
Office: ETC 5.134A,
Phone: 512-475-7773,
Email: ashish@austin.utexas.edu

Class Participation
All students are expected to attend the lecture
sessions and take active role in in-class
discussions.

Grading

TA:
Taylor Niehues
Email: taylor.niehues@utexas.edu

Homework
Quizzes
Mid-terms (I & II)
Project

Class Hours: TTh 2:00-3:30 PM, ETC 7.146

Lab Hours: open, ETC 3.104A
Office Hours: Wed 9-11am and by appointment
Prerequisites: Undergraduate level Statics,
Dynamics, & Matlab programming
Textbook: Design of Machinery, Fifth Edition
Author: Robert L. Norton (McGraw Hill)
Software: MATLAB Student Version

20%
10%
30%
40%

Homework

Homework problems will be assigned

regularly throughout the semester.
You are expected to do the homework
assignment individually.
Must be submitted on 8.511 sheets.

Quizzes

Course Homepage
https://utexas.instructure.com/courses/1029237

Course description
This course teaches analysis and synthesis of
motions of mechanisms in order to design robotic
systems. Motion properties of mechanisms
including degrees of freedom, velocity, and
acceleration will be studied. Throughout the
course design ideas and motion analysis for
robotic systems will be discussed for a wide range
of applications including spatial, industrial and
medical robotics. The students will simulate and
analyze motions of multi-link mechanisms in the
MATLAB programming environment.

There will be numerous multiple-choice, inclass quizzes.

The goal is to test in-class participation and
understanding of the material.

Mid-Term Exams

There will be two mid-term examinations.

These will be held at the scheduled class
times.
Mid-term 1 on OCT 1st, 2015
Mid-term 2 on NOV 5th or 12th, 2015
You can bring a single 8.511 formula sheet to
the prelims.

Project
Teams of 3 students will carry out hands-on robot
projects, with an emphasis on mechanisms design.
Students will design, build and control a novel
mechanism, give a demonstration and submit a
report.

Students will design and build robots with

interesting mechanisms and mechatronics
elements as part of group projects. Students will
learn machining, assembly, mechatronics and
programming through the projects.

Special needs: The University of Texas at Austin provides

upon request appropriate academic accommodations for
qualifier students with disabilities. To determine if you
qualify, please contact Dean of Students at 471-6259 or 4714641 TTY. If they certify your needs, we will work with you to
make appropriate arrangements.
Plagiarism: As a research university, the University of Texas
at Austin takes plagiarism very seriously. Do not risk getting
involved in a plagiarism infraction the consequences simply
arent worth it. Always cite your sources, and when in doubt
consult a professor or librarian. You may also read more about
plagiarism at the Student Judicial Services website:
http://deanofstudents.utexas.edu/sjs/acint_student.php

Educational Objectives
1. To train students to identify, model, analyze
and simulate kinematics of machinery using a
unified approach
2. To teach students to design planar robotics
mechanisms
3. To introduce students to the computer
simulation, design and dynamic analysis of
mechanisms using MATLAB
4. To provide hands-on experience in building of
robotic systems

Religious holy day observance: If an assignment or exams

falls due on a day when you are observing a religious holy day,
we will work with you to find an acceptable alternative time to
complete this assignment.

SCHEDULE
(Tentative)

Weeks 1-10 of the semester

Kinematical Analysis of Mechanisms
Position Analysis
Velocity Analysis
Acceleration Analysis
These concepts will be introduced Topics will taught with
Class Project
Formation of the teams and topic decision
Brainstorming on design of robot mechanisms
Configuration and parametric design based on kinematical analysis
Material purchase
Training for building, assembly, control of the robots
o Machine shop training and practice
o Microcontrollers and mechatronics
o Actuators and sensors

Weeks 11-14 of the semester

Advanced Topics the focus of the advanced topics will be decided based on student
interest and project topics
Robot mechanism synthesis
Robot dynamics
Robot controls and planning
Class Project
Machining of the parts and building and assembling mechanisms
Microcontroller programming and control system design
Kinematical analysis
Testing of the robot mechanisms
Re-design and re-build based on the test results
Report writing

Important Dates
September 8, 2015 Discussion of project topics and teams
September 10, 2015 Presentation by Ricardo Palacio Machine shop manager
September 12, 2015 (Saturday 9AM-1PM) Machine Shop Training
September 24, 2015 Mechatronics Training
October 1, 2015 Mid-term 1
October 15, 2015 First prototype built
October 29, 2015 Halloween!!!
November 5 or 12, 2015 Mid-term 2
November 19, 2015 Second prototype built
December 1, 2015 In-class presentations (5 slides)
December 3, 2015 Final Demo - Open house in T-room