Lecture notes on specific topics.

## Elementary Robotics

The basic properties of robots can developed by studying planar serial chains. Select this link for my notes on elementary robotics:
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-5.pdf

Elementary Robotics

## CMU’s Introduction to Mechanisms

Yi Zhang, Susan Finger and Stephannie Behrens have prepared an on-line introduction to mechanisms consisting of eight chapters and almost 100 figures. Access it at the link:
http://www.cs.cmu.edu/~rapidproto/mechanisms/tablecontents.html

The slider-crank is an important mechanism with a wide range of applications. Here are my notes on its kinematic analysis.
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-3.pdf

Slider-crank analysis

The four-bar linkage is a basic machine component. It comes in two primary forms the 4R quadridlateral and the slider-crank. Here are my notes for the analysis of the 4R quadrilateral.
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-2.pdf

## DC motor torque and power

A copy of my notes on DC motor torque and power can be downloaded at the link:
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-1.pdf

Motor Torque and Power

## DC motor basics

The basic principles of DC motors are presented by Joe Wolfe of the University of New South Wales (Sydney, Australia) at the link:
http://www.animations.physics.unsw.edu.au/jw/electricmotors.html

Phyclips from UNSW

Northwestern University (Chicago, Illinois) presents the basics of a DC motor in the Wiki page:

Northwestern University Wiki page

## Geometric Dimensioning and Tolerancing

This is a link to notes on Geometric Design and Tolerancing by Prof. Graeme Britton of Raffles Design Institute, Singapore.

Prof. Britton\’s Notes on GD&T

http://synthetica.eng.uci.edu/mechanicaldesign101/GDandT.pdf

Here is another excellent set of notes from the Technical College of New Jersey on geometric dimensioning and tolerancing.

## C. J. Sangwin’s linkage movies

Chris Sangwin has a nice collection of linkage movies at How round is your circle?.

Particularly nice are the straight line mechanisms such as Hart’s second straight-line mechanism.

Fred Klingener has generated a number of interesting mechanism animations.  My favorite is the Peaucellier straight line mechanism.  You will find a table of 16 or so animations at his site:

http://www.brockeng.com/mechanism/index.htm

Brock Institute Logo

## Kinematic models for design

The KMODDL team at Cornell University maintains an excellent digital library of kinematic models with animations.  Access their site at the link:

http://kmoddl.library.cornell.edu/

KMODDL Logo