Machine Design

The engineering of parts that move and carry load. The course starts with the basics of mechanical design: forces, materials, and the standard machine elements. It continues to the kinematics of linkages and arms. It ends with inverse kinematics: the solution for the joint angles that put a tool in a given position.

engineering

Part A: Mechanical Design Basics

01 The design process: requirements, constraints, and design intent.
02 Loads & stress: tension, shear, bending, torsion, and the factor of safety.
03 Materials for machines: stiffness, strength, and fatigue (with a nod to the Materials course).
04 Machine elements: fasteners, shafts, bearings, gears, and springs.
05 Tolerances & fits: clearance, interference, and the basics of GD&T.
06 Failure modes: yielding, fatigue, and buckling, and how to design against them.

robot_2

Part B: Kinematics & Inverse Kinematics

07 Rigid-body motion and degrees of freedom (DOF).
08 Linkages & mechanisms: the four-bar linkage and its cousins.
09 Forward kinematics: from joint angles to tool position.
10 Inverse kinematics: the joint angles that reach a target, with analytical and numerical (Jacobian) methods.
11 Workspace & singularities: where the arm can (and can't) go.
12 Manipulability: designing a mechanism that's strong and dexterous where it matters.

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The Build

Design and analyze a small articulated mechanism from start to end. Select the target motion. Set the sizes of the links and the joints. Select the machine elements. Then write the forward and inverse kinematics that drive the mechanism. The animated arm on our homepage uses this same math. At the end of the course, you will know the meaning of each joint angle in that readout.

Design

Size links, joints, and the drive for a target reach and load.

Solve

Derive the forward & inverse kinematics for your mechanism.

Verify

Check the workspace. Stay away from singularities. Adjust for manipulability.

animation

Interactive Simulations

Operate the concepts. Do not only read them. The simulations use the same engine as the homepage arm.

Inverse Kinematics open_in_full

Drag a target. A two-link arm calculates its joint angles live, elbow-up or elbow-down.

Four-Bar Linkage open_in_full

Turn the crank on a 1-DOF Grashof linkage. The coupler point draws its curve.

Lathe: Thread Cutting open_in_full

Pick a thread. The change gears turn at the true ratio and the tool cuts the true pitch. Explodes into 8 parts.

Die Press + Flywheel open_in_full

Watch the flywheel slow at each punch. Real punch force and energy budget. Explodes into 7 parts.

6-DOF Arm: Exploded View open_in_full

Open the arm into its 7 parts. Click each part to read its function, joint type, and DOF.

Before You Start

> Comfort with algebra and right-triangle trigonometry
> Statics for Makers recommended (not required)
> A little calculus helps for Part B, but we build it up
> No CAD experience needed. We sketch by hand first

You'll Leave Able To

> Size a shaft, bearing, or fastener for a real load
> Read and specify a tolerance/fit
> Count a mechanism's degrees of freedom on sight
> Write forward & inverse kinematics for a simple arm

COURSE_NOTES // MATERIALS

SYNC_PENDING

Lecture notes, worksheets, and reference sheets for this course are posted here and in the Library. New material will fill the slots below.

function Ch.1 · Kinematics & Mechanisms // Notes LIVE → timeline Ch.2 · Position Analysis & Vector Loops // Notes LIVE → speed Ch.3 · Velocity Analysis // Notes LIVE → factory Ch.4 · Shop Kinematics: Reading the Old Machines // Notes LIVE →

A1 · Mechanical Design Basics // Notes PENDING_UPLOAD

A2 · Machine Elements // Reference Sheet PENDING_UPLOAD

B1 · Forward & Inverse Kinematics // Notes PENDING_UPLOAD

B2 · Kinematics Worksheet + Solutions PENDING_UPLOAD

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