| Ses # | Topics | Instructors | Supporting Files |
|---|---|---|---|
| L1 | Course Introduction - Project Ideas (PDF) | DF | |
| L2 | Gears - Basics, Terminology, Involute Curve (PDF) | DF | Gear Model Files: Peg Gears, Spur Gears, Rack Cutting, Gear Train, and Involute Construction (ZIP) (The ZIP file contains: 1 .sldprt file and 4 .wm files.) |
| L3 | Gears - Force Transmission, Gear Trains (PDF) | DF | |
| L4 | Gears - Stress Analysis, Life, Reliability, Selection | DF | |
| L5 | Mechanisms (2D Kinematic Analysis) (PDF) | DF | HTM Demonstrator (XMCD) Hexapod Model (ZIP - 2.5 MB) (The ZIP file contains: 4 .sldasm files, 25 .sldprt files, and 1 .swj file.) |
| L6 | Mechanisms (Synthesis of 4 Bar Mechanisms) (PDF) | DF | Dump Truck Files: Three Position Synthesis, Kinematics, and Path Generation (ZIP) (The ZIP file contains: 1 .wm file and 2 .xmcd files.) |
| L7 | Mechanisms Field Trip to MIT Museum | ||
| L8 | Mechanisms (Forces in 2D Mechanisms) (PDF - 1.0 MB) | DF | Path Generation - Mathcad (MCD) Path Generation - Excel (XLS) Vise Grips Model (WM) |
| L9 | Mechanisms (3D Mechanisms) (PDF) | DF | Mathcad® files: HTM about a Point, HTM about a Vector, 3D Leg Mechanism (ZIP) (The ZIP file contains: 3 .mcd files.) |
| L10 | Journal Bearings (PDF) | DF | McPherson Strut (XMCD - 1.8 MB) |
| L11 | Rolling Element Bearings (PDF) | AS | |
| L12 | Belts | DF | |
| L13 | Cams | DF | (ZIP) (The ZIP file contains: 3 .xmcd files.) |
| L14 | Bolted Joints | DF | (XMCD) |
| L15 | Fasteners | AS | |
| L16 | Optics Modeling; Calibration; Machine Error Propagation | Guest Lecturer |  Handout: Frey, D. "Error Budgeting." Chapter 10 in Robotics and Automation Handbook. Edited by W. H. C. Bassetti. Boca Raton, FL: CRC Press, 2004. ISBN: 9780849318047. |
| L17 | Batteries | DF | |
| L18 | Electric Motors (PDF) | DF | |
| L19 | Actuators | DF | |
| L20 | Hydraulics | AS | |
| L21 | Microcontrollers | DF | |
| L22 | Sensors | DF | |
| L23 | Final Project Clinic | ||
| L24 | Course Summary / Feedback |
Table of Contents
Lecture Notes
Lecture Notes
Special software is required to use some of the files in this section: .mcd, .sldasm, .sldprt, .swj, .wm, .xmcd, .xls, and .zip.
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This page presents lecture slides and supplemental modeling files for a subset of the class sessions. The rest of the lectures slides are not available for copyright reasons.
Instructors
DF = Prof. Daniel Frey
AS = Ms. Amy Smith