COURSE CODE L T P C

ADVANCED MECHANISMS
2161ME146 3 0 0 3

UNIT I: VELOCITY AND ACCELERATION ANALYSIS OF MECHANISMS 9

Review of kinematic analysis-mobility, displacement, velocity and acceleration analysis of
mechanisms – Plane Complex mechanisms – Goodman Analysis – Auxiliary point method.

UNIT II: PATH CURVATURE THEORY 9

Fixed and Moving centrodes, Inflection points and Inflection circle. Euler Savary equation, Graphical
constructions – Cubic of stationary curvature.

UNIT III: KINEMATIC SYNTHESIS 9

Kinematic synthesis - Function generation, path generation and rigid body guidance – Type
synthesis, Number Synthesis – Cognate Linkage – Coupler curve synthesis – Algebraic methods –
application of instant centre in linkage design.

UNIT IV: DYNAMICS OF MACHINES 9

Static force analysis with friction – Inertia force analysis – combined static and inertia analysis.

UNIT V: SPATIAL MECHANISM AND ROBOTICS 9

Kinematic analysis of spatial RSSR mechanism – Denavit – Hartenberg parameters. Forward and
inverse kinematics of robotic manipulators. Tutorial and use of mechanical software packages.

TOTAL: 45 PERIODS

Required Resources:
1.George N. Sandor and A.G. Erdman, Advanced Mechanism Design analysis and Synthesis,
Vol.1 and 2, Prentice Hall of India, 2012.
2. Shigley J.E and Uicker J.J., Theory of Machines and Mechanisms, McGraw Hill, 2010
Recommended Resources:
1. Hall, Kinematics and Linkage Design, Prentice Hall, 2009.
2. Robert L. Norton, Design of Machinery, McGraw Hill, 2009
3. Hartenberg and Denavit, Kinematics and synthesis of linkages, McGraw Hill, 2010
4. J.Hirschhorn, Kinematics and Dynamics of Plane Mechanisms, McGraw Hill, 2011
Web Resources
1. This course uses various resources, such as lecturer notes, materials from electronic media,
assignment papers, and sample solutions. Students should make appropriate use of these
resources.
2. www.nptel.ac.in