Core Elective IV
Open Elective II
Laboratory II
Seminar II
Total Credits
Course Title
Int.
Ext.
marks marks
25
75
25
75
25
75
25
75
4
4
4
4
-----
4
4
4
4
25
75
--
25
75
--
25
50
75
--
--24
4
4
8
2
2
28
UNIT-IV
Fatigue: definition of terms used to describe fatigue cycles, High Cycle Fatigue, Low Cycle Fatigue,
Fatigue of Welded structures: Factors effecting the fatigue lives of welded joints. Mean stress R ratio,
strain and load control. S-N curves. Goodmans rule and Miners rule. Micro mechanisms of fatigue
damage, fatigue limits and initiation and propagation control leading to a consideration of factors
enhancing fatigue resistance. Total life and damage tolerant approaches to life prediction.
UNIT-V
Creep Deformation: The evolution of creep damage, primary, secondary and tertiary creep, Micro
mechanisms of creep in materials and the role of diffusion, Ashby creep deformation maps. Stress
dependence of creep power law dependence. Comparison of creep performance under different
conditions extrapolation and the use of Larson-Miller parameters, Creep-fatigue interactions, Creep
integrals, Examples.
REFERENCE:
1. Mechanical Metallurgy / Dieter / McGraw Hill
2. Fracture Mechanics: Fundamental and Applications /Anderson T.L & Boca Raton/ CRC Press,
Florida, 1998.
3. Deformation and Fracture mechanics of Engineering Materials / Richard W Hertz /Wiley
4. Plasticity for structural Engineers / W.F. Chen and D.J,. Ha,
5. Engineering Fracture Mechanics/ D.R.J. Owen and A.J. Fawkes /Pincridge press, Swansea, U.K.
6. Fracture and fatigue control in structures/ S.T. Rolfe and J.M. Barsom/ Printice Hall, Eglewood
cliffs, N.J..
7. Fracture of brittle solids/ B.R. Lawn and T.R. Wilshaw/ Cambridge university press.
8. Plastic deformation of Metals/ R.W.K. Honeycombe/ 2nd edition, Edward Arnold
9. Elements of Fracture Mechanics/Prasanth Kumar/TMH
10. F.R.N. Nabarro, H.L. deVilliers, The Physics of Creep, Taylor and Francis, (1995)
INDUSTRIAL ROBOTICS
(Core Elective III)
UNIT- I
Introduction, Robotic System, Classification of Robots, Position, Orientation, and location of a rigid body,
Homogeneous Transformation, Mechanics of Robot Manipulators, Denavit-Hartenberg Method, Method
of successive screw displacements
UNIT-II
Serial manipulators: Introduction, Link parameters and link coordinate system, Loop-closure Equations ,
Forward and Inverse Kinematic Analysis , Differential Kinematics of a Rigid Body, Differential Kinematics
of a Serial manipulators, Manipulator Jacobian Matrix, Conventional jacobian, Screw coordinaates and
screw system, Srew-Based Jacobian, Transformation of Srew coordinates, Condition Number, Singularity
Analysis.
UNIT-III
Parallel manipulators: Introduction, Position Analysis of parallel manipulators, Structure classification of
parallel manipulators, Denavit-Hartenberg Methods verses geometric Method, Position Analysis of a
Planar 3RRR Parallel manipulator, Position analysis of a spatial orientation mechanism, Position Analysis
of a 3-3 Stewart-Gough Platform, Wrenches and Reciprocal Screws.
UNIT-IV
Robot Dynamics: Lagrange- Euler Formulation- Newton-Euler Formulations- Problems on Planar two
link robot manipulators.
Trajectory Planning: Joint space scheme- Cubic polynomial fit-Avoidance of obstacles-Blending,
Cartesian space scheme.
UNIT-V
Modelling of Flexible Manipulators: Introduction-Modelling of a Flexible Joint-Euler-Bernoulli Beam
Model-Rotating Flexible Link-Translating Flexible Link-Kinematic Modelling of Multi-link Flexible
Manipulators-Discretization Methods-Assumed Modes Method-Finite Element Method-Comparison of
Discretization Methods-Equations of Motion of Multi-link Flexible Manipulators-Kinetic Energy-Potential
Energy-Symbolic Equations of Motion
REFERENCES:
1. Robotics: Fundamental Concepts and Analysis / Ashitava Ghosal / Oxford
2. Introduction to Robotic Mechanics and Control / J J Craig/ Pearson / 3rd edition.
3. Robotics / Fu K S/ McGraw Hill.
4. Robot Analysis and Intelligence / Asada and Slotine / Wiley Inter-Science.
5. Robotics and Control / Mittal R K & Nagrath I J / TMH
6. Mechanics of Serial and Parallel Manipulators Lung Wen Tsai
REFERENCES:
1. Machine Design An Integrated Approach / Robert L. Norton / Prentice-Hall New Jersey, USA.
2. Engineering Design / George E Dieter / McGraw Hill /2008
2. Mechanical Engineering Design / J.E. Shigley and L.D. Mitchell / McGraw Hill International Book
Company, New Delhi.
3. Fundamentals of machine elements/ Hamrock, Schmid and Jacobian/ 2nd edition /McGraw- Hill
International edition.
4. Product design and development / Karl T. Ulrich and Steven D. Eppinger / 3rd edition/ Tata McGraw
Hill.
5. Product Design and Manufacturing /A.K. Chitale and R.C. Gupta / Prentice Hall
VEHICLE DYNAMICS
(Core Elective IV)
UNIT I:
Introduction: Fundamental Principles, Vehicle tires performance, cornering characteristics, Mechanics of
Vehicle Terrain interaction. Vehicle Kinematics, Fundamental principles of velocity, acceleration. Two
dimensional mechanisms, Forward Vehicle Dynamics.
UNIT II:
Three dimensional Mechanisms, Multi-Body Systems Design, Introduction to 3D vehicle design.
UNIT III:
Suspension Design: Computer models using Bond Graph Technology, Drive train dynamics, vehicle
performance
UNIT IV:
Steering Mechanisms: Two and three dimensional analysis, Mechanics of Vehicle Terrain interaction.
Vehicle Collations, Fundamental laws of motion, energy and momentum, Forces and Moments 2D and
3D. The Dynamics of vehicle rollovers.
UNIT V:
Wheeled Vehicle Handling Handling control loop, vehicle transfer function, Kinematic behavior of
vehicles with rigid wheels and with complaint tyres: Neutral steer point, static margin, over and understeer. Solution with two degree of freedom in the steady state: Stability factor, characteristic and critical
speeds. Tracked Vehicle Handling Analysis of sprocket torques and speeds, required to skid steer a
tracked vehicle. Extension of theory to include three degrees of freedom.
REFERENCE:
1. Vehicle Dynamics: Theory and Application/Reza Jazar/Springer 2008
2. Theory of Ground Vehicles/ J.Y.Wong/ John Wiley.
3. Vehicle stability/ Dean Karnopp/ Dekker Mechanical Engineering
4. Modeling & Simulation of Mechatronics Systems/ Karnoop Margolis, Rosenberg, /Wiley/ 2007.
5. Suspension and Tyres / Giles J.G. Steering/ Illiffe Books Ltd., London.
6. Fundamental of Vehicle Dynamics/ Gillespie/ T.D, SAE USA.
Preparation and study of the Micro Structure of ferrous metals and alloys.
Preparation and study of the Microstructure of nonferrous metals and alloys.
Effect of tempering time on the hardness of quenched carbon steels.
Effect of tempering temperature on the hardness of a hardened carbon steels.
Preparation of metallic specimens by electro polishing.
Study of work hardening characteristics of a pure metal.
Determination of carbon percentage in the given ferrous specimen.
MODELING
1.
2.
3.
4.
Surface modeling.
Solid modeling.
Drafting.
Assembling.
Static Analysis.
Modal Analysis.
Harmonic Analysis.
Spectrum Analysis.
Buckling Analysis.
Analysis of Composites.
Fracture mechanics.
Transient analysis