Geometry of Motion:
Introduction, analysis and synthesis, Mechanism terminology, planar, Sphericalan dspatial mechanisms, mobility, Grash offs law, Equivalent mechanisms, unique mechanisms.
Kinematic analysis of plane mechanisms:
Auxiliary point method using rotated velocity vector, Hall - Ault auxiliary point method, Goodman's indirect method. Numerical examples.
Generalized Principles of Dynamics:
Fundamental laws of motion, generalized coordinates, configuration space,constraints, virtual work, principle of virtual work,energy and momentum, work and kinetic energy,and stability, kinetic energy of a system, angular momentum,generalized momentum.
Lagrange's Equation:
Lagrange's equation from D'Alembert's principles, examples, Hamiltons equations, Hamiltons principle, Lagrange's equation from Hamiltons principle, Derivation of Hamiltons equations, numerical examples.
Synthesis of Linkages:
Type, number,and dimensional synthesis, function generation, path generation and body guidance, precision positions, structural error,Chebychev spacing. Two position synthesis of slider crank mechanisms, crank-rocker mechanisms with optimum transmission angle.
Motion Generation:
Poles and relative poles, Location of poles and relative poles, polode, curvature, Inflection circle,numerical examples.
Graphical Methods of Dimensional Synthesis:
Two position synthesis of crank and rocker mechanisms, three position synthesis, four position synthesis (pointprecisionreduction),Overlay method, Coupler curve synthesis, Cognate linkages.
Ana1ytical Methods of Dimensional Synthesis:
Freudenstein's equation for four bar mechanism and slider crank mechanism,
examples, Bloch's method of synthesis, analytical synthesis using complex algebra.
SystemDynamics:
Gyroscopicactionin machines, Euler's equation of motion, Phase Plane representation, Phase plane Analysis, Response of Linear Systems to transient disturbances.
Spatial Mechanisms:
Introduction, Position analysis problem, Velocity and acceleration analysis, Eulerian angles, numerical examples.