ME 372J - Robotics and Automation

Bell Crank Simulation - Visual simulation of a bell crank mechanism using a data file.

Cam Motion Program - Analyze the motion profile of a cam design using RRG CamMotion.

Double Lever Cam Follower Simulation - Visual simulation of a double lever cam follower mechanism using a data file.

Four Bar Linkage - Visual simulation of a four bar linkage using a data file.

2 DOF RP Robot Kinematics HW Assignment - Write a path following program using inverse kinematics for a 2 DOF RP Robot.

3 DOF Planar Robot - Run a 3 DOF  Planar Robot in end effector space using an inverse kinematics program.  Move to see where singularities exist and its motion capabilities. 

4 DOF Planar Robot With Self Motion - Run a Redundant 4 DOF Planar Robot in end effector space using an inverse kinematics program.  Move to see where singularities exist and its self motion capabilities. 

6 DOF Puma Inverse with Kinematic Closures - Run a 6 DOF Puma 760 Robot in end effector space using an inverse kinematics program.  Toggle between different shoulder, elbow, and wrist positions to see different possible closures.

10 DOF Redundant Robot With Self Motion - Control a 10 DOF spatial redundant Robot in end effector space using an inverse kinematics program.  Perform self motion on the robot by controlling each individual joint manifolds.

10 DOF Robot Simulation of DOE Decontamination & Dismantlement Tasks - The University of Texas is working to develop the operational software necessary to deploy general redundant systems in complex environments.  This link leads to a brief description of one implementation strategy and an example simulation.