Intelligent Mechanisms Design

Unit Outline (Higher Education)

Level of Unit in Course

AQF Level(s) of Course

Level of Unit in Course

Introductory

Intermediate

Effective Term:

2024/17

Institute / School :

Institute of Innovation, Science & Sustainability

Unit Title:

Intelligent Mechanisms Design

Unit ID:

ENGIN3406

Credit Points:

15.00

Prerequisite(s):

(ENGIN2303 or ENMEC2111)

Co-requisite(s):

Nil

Exclusion(s):

(ENMTX4010)

ASCED:

039999

Other Change:

Brief description of the Unit

This course introduces students to basic principles of Intelligent Mechanisms and kinematics and dynamics. This course will introduce design of specific advanced intelligent mechanisms with forward and inverse kinematics. Further, dynamics of mechanisms and control of mechanisms with PID, Joint space, operational space and force control.

Grade Scheme:

Graded (HD, D, C, P, MF, F, XF)

Work Experience Indicator:

Placement Component: No

Supplementary Assessment:

Where supplementary assessment is available a student must have failed overall in the Unit but gained a final mark of 45 per cent or above, has completed all major assessment tasks (including all sub-components where a task has multiple parts) as specified in the Unit Description and is not eligible for any other form of supplementary assessment

Course Level:

Learning Outcomes:

On successful completion of the unit the students are expected to be able to:

Knowledge:

K1.	Explain common terminologies and conventions in intelligent mechanisms.

K2.	Synthesise the important concepts in kinematics and dynamics of robot manipulators.

K3.	Translate the basic theories and mathematics behind intelligent mechanism design into engineering practice.

K4.	Develop mathematical models of the kinematics and dynamics of the industrial manipulators.

Skills:

S1.	Design mechanisms using forward and inverse kinematics.

S2.	Develop mathematical models of mechanisms.

S3.	Analyse the dynamics of mechanisms.

S4.	Apply the mathematical principles for the control of mechanisms.

S5.	Use mathematical tools for the design and control of mechanisms.

Application of knowledge and skills:

A1.	Integrate knowledge relating to the design and development of intelligent mechanisms.

A2.	Apply of theories to analyse the dynamics of mechanisms.

A3.	Use theories for the intelligent control of mechanisms.

Unit Content:

•Introduction to intelligent mechanisms
•Spatial Descriptions
•Forward Kinematics
•Jocobians (velocity, explicit form, static forces)
•Inverse kinematics
•Dynamics (acceleration, explicit form)
•Control (PID, joint space, operational space, force control)

Graduate Attributes:

	Learning Outcomes Assessed	Assessment Tasks	Assessment Type	Weighting
1.	K1-K4, S1-S5, A1-A3	Understanding of principles and mathematics involved	Laboratory and tutorials	10 - 30%
2.	K1-K4, S1-S5, A1-A3	To verify the gradual understanding of concepts	Assignments	20 - 40%
3.	K1-K4, S1-S5, A1-A3	Any combination of questions and problems from the whole of the course content.	Exams / Tests	40 - 60%

Adopted Reference Style:

Other (IEEE: Refer to the library website for more information)

Professional Standards / Competencies:

Standard / Competency

Engineers Australia - Stage 1 (Professional): 2017 accreditation & AQF

Attribute			Assessed	Level
1 Knowledge and Skill Base
	1.1 Comprehensive, theory based understanding of the underpinning natural and physical sciences and the engineering fundamentals applicable to the engineering discipline.
		1.1.1 Engages with the engineering discipline at a phenomenological level, applying sciences and engineering fundamentals to systematic investigation, interpretation, analysis and innovative solution of complex problems and broader aspects of engineering practice.	Yes	Advanced
	1.2 Conceptual understanding of the, mathematics, numerical analysis, statistics, and computer and information sciences which underpin the engineering discipline.
		1.2.1 Develops and fluently applies relevant investigation analysis, interpretation, assessment, characterisation, prediction, evaluation, modelling, decision making, measurement, knowledge management and communication tools and techniques pertinent to the engineering discipline.	Yes	Advanced
	1.3 In-depth understanding of specialist bodies of knowledge within the engineering discipline.
		1.3.1 Proficiently applies advanced technical knowledge and skills in at least one specialist practice domain of the engineering discipline.	Yes	Intermediate
	1.4 Discernment of knowledge development and research directions within the engineering discipline.
		1.4.1 Identifies and critically appraises current developments, advanced technologies, emerging issues and interdisciplinary linkages in at least one specialist practice domain of the engineering discipline.	No	Introductory
	1.6 Understanding of the scope, principles, norms, accountabilities and bounds of contemporary engineering practice in the specific discipline.
		1.6.1 Applies systematic principles of engineering design relevant to the engineering discipline.	Yes	Advanced
		1.6.2 Appreciates the basis and relevance of standards and codes of practice, as well as legislative and statutory requirements applicable to the engineering discipline.	Yes	Intermediate
		1.6.3 Appreciates the principles of safety engineering, risk management and the health and safety responsibilities of the professional engineer, including legislative requirements applicable to the engineering discipline.	Yes	Intermediate
		1.6.4 Appreciates the social, environmental and economic principles of sustainable engineering practice.	Yes	Introductory
		1.6.5 Understands the fundamental principles of engineering project management as a basis for planning, organising and managing resources.	Yes	Introductory
		1.6.6 Appreciates the formal structures and methodologies of systems engineering as a holistic basis for managing complexity and sustainability in engineering practice.	Yes	Advanced
2 Engineering Application Ability
	2.1 Application of established engineering methods to complex engineering problem solving.
		2.1.1 Identifies, discerns and characterises salient issues, determines and analyses causes and effects, justifies and applies appropriate simplifying assumptions, predicts performance and behaviour, synthesises solution strategies and develops substantiated conclusions.	Yes	Advanced
		2.1.2 Ensures that all aspects of an engineering activity are soundly based on fundamental principles - by diagnosing, and taking appropriate action with data, calculations, results, proposals, processes, practices, and documented information that may be ill-founded, illogical, erroneous, unreliable or unrealistic.	Yes	Advanced
		2.1.3 Competently addresses engineering problems involving uncertainty, ambiguity, imprecise information and wide-ranging and sometimes conflicting technical and non-technical factors.	Yes	Advanced
		2.1.4 Partitions problems, processes or systems into manageable elements for the purposes of analysis, modelling or design and then re-combines to form a whole, with the integrity and performance of the overall system as the paramount consideration.	Yes	Advanced
		2.1.5 Conceptualises alternative engineering approaches and evaluates potential outcomes against appropriate criteria to justify an optimal solution choice.	Yes	Intermediate
		2.1.6 Critically reviews and applies relevant standards and codes of practice underpinning the engineering discipline and nominated specialisations.	Yes	Introductory
		2.1.9 Investigates complex problems using research-based knowledge and research methods.	Yes	Introductory
	2.2 Fluent application of engineering techniques, tools and resources.
		2.2.1 Proficiently identifies, selects and applies the materials, components, devices, systems, processes, resources, plant and equipment relevant to the engineering discipline.	Yes	Intermediate
		2.2.2 Constructs or selects and applies from a qualitative description of a phenomenon, process, system, component or device a mathematical, physical or computational model based on fundamental scientific principles and justifiable simplifying assumptions.	Yes	Specialist
		2.2.3 Determines properties, performance, safe working limits, failure modes, and other inherent parameters of materials, components and systems relevant to the engineering discipline.	Yes	Advanced
		2.2.4 Applies a wide range of engineering tools for analysis, simulation, visualisation, synthesis and design, including assessing the accuracy and limitations of such tools, and validation of their results.	Yes	Advanced
		2.2.5 Applies formal systems engineering methods to address the planning and execution of complex, problem solving and engineering projects.	Yes	Advanced
		2.2.6 Designs and conducts experiments, analyses and interprets result data and formulates reliable conclusions.	Yes	Advanced
		2.2.7 Analyses sources of error in applied models and experiments; eliminates, minimises or compensates for such errors; quantifies significance of errors to any conclusions drawn.	Yes	Advanced
		2.2.8 Safely applies laboratory, test and experimental procedures appropriate to the engineering discipline.	Yes	Specialist
		2.2.9 Understands the need for systematic management of the acquisition, commissioning, operation, upgrade, monitoring and maintenance of engineering plant, facilities, equipment and systems.	Yes	Intermediate
		2.2.10 Understands the role of quality management systems, tools and processes within a culture of continuous improvement.	Yes	Introductory
	2.3 Application of systematic engineering synthesis and design processes.
		2.3.1 Proficiently applies technical knowledge and open ended problem solving skills as well as appropriate tools and resources to design components, elements, systems, plant, facilities and/or processes to satisfy user requirements.	Yes	Advanced
		2.3.2 Addresses broad contextual constraints such as social, cultural, environmental, commercial, legal political and human factors, as well as health, safety and sustainability imperatives as an integral part of the design process.	Yes	Introductory
		2.3.3 Executes and leads a whole systems design cycle approach including tasks such as: a) determining client requirements and identifying the impact of relevant contextual factors, including business planning and costing targets; b) systematically addressing sustainability criteria; c) working within projected development, production and implementation constraints; d) eliciting, scoping and documenting the required outcomes of the design task and defining acceptance criteria; e) identifying assessing and managing technical, health and safety risks integral to the design process; f) writing engineering specifications, that fully satisfy the formal requirements; g) ensuring compliance with essential engineering standards and codes of practice; h) partitioning the design task into appropriate modular, functional elements; that can be separately addressed and subsequently integrated through defined interfaces; i) identifying and analysing possible design approaches and justifying an optimal approach; j) developing and completing the design using appropriate engineering principles, tools, and processes; k) integrating functional elements to form a coherent design solution; l) quantifying the materials, components, systems, equipment, facilities, engineering resources and operating arrangements needed for implementation of the solution; m) checking the design solution for each element and the integrated system against the engineering specifications; n) devising and documenting tests that will verify performance of the elements and the integrated realisation; o) prototyping/implementing the design solution and verifying performance against specification; p) documenting, commissioning and reporting the design outcome.	Yes	Intermediate
		2.3.4 Is aware of the accountabilities of the professional engineer in relation to the design authority role.	Yes	Introductory