Lecture Notes

Special software is required to use some of the files in this section: .mcd, .sldasm, .sldprt, .swj, .wm, .xmcd, .xls, and .zip.

Amazon logo Help support MIT OpenCourseWare by shopping at Amazon.com! MIT OpenCourseWare offers direct links to Amazon.com to purchase the books cited in this course. Click on the Amazon logo to the left of any citation and purchase the book from Amazon.com, and MIT OpenCourseWare will receive up to 10% of all purchases you make. Your support will enable MIT to continue offering open access to MIT courses.

This page presents lecture slides and supplemental modeling files for a subset of the class sessions. The rest of the lectures slides are not available for copyright reasons.


DF = Prof. Daniel Frey
AS = Ms. Amy Smith

Ses # Topics Instructors Supporting Files
L1 Course Introduction - Project Ideas (PDF) DF
L2 Gears - Basics, Terminology, Involute Curve (PDF) DF Gear Model Files: Peg Gears, Spur Gears, Rack Cutting, Gear Train, and Involute Construction (ZIP) (The ZIP file contains: 1 .sldprt file and 4 .wm files.)
L3 Gears - Force Transmission, Gear Trains (PDF) DF
L4 Gears - Stress Analysis, Life, Reliability, Selection DF
L5 Mechanisms (2D Kinematic Analysis) (PDF) DF HTM Demonstrator (XMCD)
Hexapod Model (ZIP - 2.5 MB) (The ZIP file contains: 4 .sldasm files, 25 .sldprt files, and 1 .swj file.)
L6 Mechanisms (Synthesis of 4 Bar Mechanisms) (PDF) DF Dump Truck Files: Three Position Synthesis, Kinematics, and Path Generation (ZIP) (The ZIP file contains: 1 .wm file and 2 .xmcd files.)
L7 Mechanisms Field Trip to MIT Museum
L8 Mechanisms (Forces in 2D Mechanisms) (PDF - 1.0 MB) DF Path Generation - Mathcad (MCD)
Path Generation - Excel (XLS)
Vise Grips Model (WM)
L9 Mechanisms (3D Mechanisms) (PDF) DF Mathcad® files: HTM about a Point, HTM about a Vector, 3D Leg Mechanism (ZIP) (The ZIP file contains: 3 .mcd files.)
L10 Journal Bearings (PDF) DF McPherson Strut (XMCD - 1.8 MB)
L11 Rolling Element Bearings (PDF) AS
L12 Belts DF
L13 Cams DF (ZIP) (The ZIP file contains: 3 .xmcd files.)
L14 Bolted Joints DF (XMCD)
L15 Fasteners AS
L16 Optics Modeling; Calibration; Machine Error Propagation Guest Lecturer Amazon logo Handout: Frey, D. "Error Budgeting." Chapter 10 in Robotics and Automation Handbook. Edited by W. H. C. Bassetti. Boca Raton, FL: CRC Press, 2004. ISBN: 9780849318047.
L17 Batteries DF
L18 Electric Motors (PDF) DF
L19 Actuators DF
L20 Hydraulics AS
L21 Microcontrollers DF
L22 Sensors DF
L23 Final Project Clinic
L24 Course Summary / Feedback