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Kinematics and Machine Dynamics

An undergraduate course on mechanisms, rigid-body motion, and the forces and torques that drive machines.

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Study the motion of interconnected rigid bodies, analyze the forces and torques acting on them, and design mechanisms to accomplish prescribed tasks.

These lectures follow the chapter sequence of Kinematics and Machine Dynamics: A Geometric Approach to the Motion of Interconnected Rigid Bodies, the notes compiled by Aykut C. Satici for his Boise State University course.

Syllabus

Fall 2021 syllabus (PDF) for ME 380 at Boise State University. This is the syllabus from the most recent offering represented in these course materials.

Course materials

I. Basic Notions of Mechanisms

• 1. Introduction — Slides
• 2. Degrees of Freedom (Mobility) — Slides
• 3. Classification of Four-Bar Linkages — Slides
• 4. Slider-Crank and Quick-Return Linkages — Slides

II. Kinematics of Mechanisms

• 5. Rigid Body Motion — Slides
• 6. Position-Level Analysis — Slides
• 7. Velocity- and Acceleration-Level Analysis — Slides

III. Dynamics of Mechanisms

• 8. Mass Distribution — Slides
• 9. Generalized Forces — Slides
• 10. Formulation of Equations of Motion — Slides
• 11. Rigid-Body Dynamics with Friction and Impact — Slides

IV. Basic Mechanism Components

• 12. Gear Trains — Slides
• 13. Cams — Slides

Background and references

The course uses calculus, vectors and matrices, and introductory engineering mechanics. The compiled notes include appendices on linear algebra, differentiation of vectors, and nonlinear systems.

The primary reference is Satici’s compiled course notes (Fall 2020 version). Chapters 1–4 follow Charles E. Wilson and J. Peter Sadler, Kinematics and Dynamics of Machinery, Pearson New International Edition (2013). Chapter 5 follows Richard M. Murray, Zexiang Li, and S. Shankar Sastry, A Mathematical Introduction to Robotic Manipulation. Chapters 6–10 draw on the compiled notes and Thomas R. Kane and David A. Levinson, Dynamics: Theory and Applications (1985). Chapters 12–13 follow Robert L. Norton, Design of Machinery, with added diagrams and worked examples. Each deck includes its references.

Reference books

• Thomas R. Kane and David A. Levinson, Dynamics: Theory and Applications (PDF).
• Richard M. Murray, Zexiang Li, and S. Shankar Sastry, A Mathematical Introduction to Robotic Manipulation. The linked page contains information about the second edition.

Chapter 11 follows David E. Stewart, “Rigid-Body Dynamics with Friction and Impact”, SIAM Review 42(1), 3–39 (2000).