The Kinematic Car: Teaching Undergraduates Nonholonomic Mechanical System Basics

The project-based undergraduate J-term course Kinematics and Mechanism Design is described, both technically and from a pedagogy point of view. In this course students discovered the kinematic car, a classic example of a nonholonomic mechanical system that everyone can relate to; especially mechanical engineering students. Technical work entailed kinematic modeling using MATLAB/SIMULINK and CAD modeling and visualization using SolidWorks along with corroborating experimental work using scale model vehicles (i.e. Jeep Liberty SUV, Allis-Chalmers WC tractor). Pedagogy issues pertain largely to the use of integrated project-based learning that incorporated a variety of technical tasks (theory, CAD modeling, kinematic simulation, and experimental work), teamwork, inquiry-based learning, and documentation, including presentation to the class.