Hiroshima University Syllabus

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Japanese
Academic Year 2023Year School/Graduate School Graduate School of Advanced Science and Engineering (Master's Course) Division of Advanced Science and Engineering Mechanical Engineering Program
Lecture Code WSH20901 Subject Classification Specialized Education
Subject Name 設計学特論
Subject Name
(Katakana)
セッケイガクトクロン
Subject Name in
English
Mechanical Engineering Design
Instructor IBARAKI SOICHI
Instructor
(Katakana)
イバラキ ソウイチ
Campus Higashi-Hiroshima Semester/Term 1st-Year,  Second Semester,  4Term
Days, Periods, and Classrooms (4T) Thur5:ENG 108, (4T) Thur6-8
Lesson Style Lecture Lesson Style
(More Details)
 
The lecture will be in Japanese in 2023.
A quiz (a short report) will be given in each class. 
Credits 2.0 Class Hours/Week   Language of Instruction B : Japanese/English
Course Level 6 : Graduate Advanced
Course Area(Area) 25 : Science and Technology
Course Area(Discipline) 09 : Mechanical Engineering
Eligible Students  
Keywords Positioning system, mechanical element, motion accuracy, measurement, kinematics, kinematic modelling. 
Special Subject for Teacher Education   Special Subject  
Class Status
within Educational
Program
(Applicable only to targeted subjects for undergraduate students)
 
Criterion referenced
Evaluation
(Applicable only to targeted subjects for undergraduate students)
 
Class Objectives
/Class Outline
This lecture teaches fundamental and practical knowledge to design a positioning mechatronics system, where the accuracy of motion is essential. Students will have basic and practical knowledge on mechanical elements in a positioning system, such as a servo motor, a ball screw, a linear motor, a guideway, and an encoder. Its principle, as well as causes for error motions, is studied. Measurement instruments and methodologies for error motions of a positioning system is lectured.
For a multi-axis positioning system, new measurement methodologies based on the machine's kinematic model is lectured. The theory to derive the machine kinematic model based on the coordinate transformation, model-based measurement schemes, error cause diagnosis, and numerical compensation are studied. This lecture mainly considers a positioning system in a machine tool.  
Class Schedule Class 1 Mechanical elements in a positioning system
Class 2 Servo motors and ball screw
Class 3 Guideways and linear encoders
Class 4 Length measurement by a laser interferometer
Class 5 Error motions of a linear axis and their measurement.
Class 6 Error motions of a rotary axis and their measurement
Class 7 Kinematic model for three-axis machines with orthogonal linear axes.
Class 8 Derivation of kinematic model based on the coordinate transformation.
Class 9 Kinematic model for three-axis machines with orthogonal linear axes. Derivation of kinematic model based on the coordinate transformation.
Class 10 Kinematic model for three-axis machines with orthogonal linear axes. Derivation of kinematic model based on the coordinate transformation.
Class 11 Kinematic model for five-axis machines with two rotary axes. Derivation of kinematic model based on the coordinate transformation.
Class 12 Kinematic model for five-axis machines with two rotary axes. Derivation of kinematic model based on the coordinate transformation.
Class 13 Application of machine kinematic model. Model-based measurement and error compensation.
Class 14 Kinematic modelling of an industrial robot.
Class 15 Kinematic modelling of an industrial robot.

A quiz (a short report) will be given in each class. There may be an in-class quiz in some classes. No final exam. 
Text/Reference
Books,etc.
 Textbook:
「工作機械の空間精度 ―3次元運動誤差の幾何学モデル・補正・測定―」.著:茨木創一.森北出版.
Reference:
「精密位置決め・送り系設計のための制御工学」著:松原 厚.森北出版 
PC or AV used in
Class,etc.
 
(More Details) Textbook, handouts, visual aids (Video/PC/Others) 
Learning techniques to be incorporated  
Suggestions on
Preparation and
Review
The textbook is to review the last half of this lecture. Basic knowledge on the machine kinematics and the coordinate transformation will be required, and the textbook will be helpful for your understanding. 
Requirements  
Grading Method Quiz at every class, and a couple of reports. 
Practical Experience  
Summary of Practical Experience and Class Contents based on it  
Message  
Other Online anonymous poll service will be used in the class. Please bring a PC or a smartphone with wi-fi connection. Class slides will be available by each class on moodle 
Please fill in the class improvement questionnaire which is carried out on all classes.
Instructors will reflect on your feedback and utilize the information for improving their teaching. 
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