Istanbul Technical University

MKS 536E Advanced Computer Aided Design, Homework 1

Due date: March 11, 2018 Sunday midnight 23:00. You have 2 weeks to submit.
Write a program animating a selected 2D or 3D linkage mechanism or a character skeleton as
tree of homogenous transformation matrices to orient the linkages. Students are free to select
the any mechanism, and use any of the calculation softwares like MathCad, MatLab, Maple,
Mathematica, Excel, Java, Pascal, C and Basic programs. The results should be drawn by the
same software. Homework will be submitted to www.ninova.itu.edu.tr web site. Printed
hardcopy is not required. You may use lines, rectangles, simple cylindrical or box shapes for
mechanism linkages. Some selected positions of the mechanism may be used to show the
motion instead of animation.
Here is some sample linkage mechanism (you may select similar or different mechanism)

The following similar sample files may be helpful for homework.

“27 assembly.mcd”, “28 robot3.mcd” and “class1.xmcd” under “MathCad-Curve-Surf-Progs”
of the course documents directory.