Dynamics of Mechanisms: Theoretical Aspects and Applications

This lecture covers the dynamics of mechanisms, focusing on the theoretical aspects that influence their performance. The instructor begins by introducing the concept of dynamics and its relation to mechanical systems, using a high-speed industrial robot as an example. Key definitions are provided, including the relationship between force, mass, and acceleration, as well as the principles of kinematics and statics. The discussion progresses to the dynamics of undamped and damped mechanical oscillators, highlighting the importance of energy conservation and the quality factor in oscillatory systems. The instructor explains the damping ratio and its implications for system performance. The lecture also contrasts parallel and serial kinematic structures, discussing their advantages and disadvantages in terms of error accumulation and dynamic response. Finally, the instructor emphasizes the significance of balancing mechanisms to enhance dynamic performance, illustrating various balancing techniques and their applications in robotics and mechanical design.