MODELING AND SIMULATION OF MECHANICAL SYSTEMS
Academic Year 2023/2024 - Teacher: PIETRO DAVIDE MADDIOExpected Learning Outcomes
The course aims to train engineering students in the kinematic and dynamic modeling of key mechanical systems and machines, the study of vibrations in single or multi-degree-of-freedom systems, and the study of robotic mechanical systems.
Throughout the course, computer-based numerical exercises will be conducted.
Course Structure
Lectures for 49 hours;
Numerical exercises for 30 hours.
Should teaching be carried out in mixed mode or remotely, it may be necessary to introduce changes concerning previous statements in line with the program planned and outlined in the syllabus.
Required Prerequisites
Attendance of Lessons
Detailed Course Content
Applied Mechanics
- Mechanisms and Machines
- Friction
- Efficiency
- Wear
- Gears
- Flexibles
- Belts
- Brakes
Mechanical vibrations
- Free 1 DoF
- Damped 1 DoF
- Forced 1 DoF
- Applications of forced 1 DoF systems
- Free 2 DoF
- Forced 2 DoF
- The modeling of single dof mechanical sistems
Basics of Robotic Mechanical Systems
Multibody Systems
The frontiers of mechanics:
- Micromechanics;
- Mechatronics;
- Biomechanics
Introduction to Matlab for Mechanical Systems
Exercises
Textbook Information
[1] BELFIORE N., DI BENEDETTO A. PENNESTRÌ E.- Fondamenti di Meccanica Applicata alle Macchine, II edizione, Casa Editrice Ambrosiana.
[2] E. PENNESTRÌ, Dinamica e Tecnica Computazionale, Vol. 1 & 2, CEA.
[3] JORGE ANGELES, Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation, Springer.
[4] JORGE ANGELES, Fundamentals of Robotic Mechanical Systems- SPRINGER.
[5] Course notes of the lessons.
Course Planning
| Subjects | Text References | |
|---|---|---|
| 1 | Applied Mechanics | [1], [2], [5] |
| 2 | Vibrations of Linear Mechanical Systems | [3], [5] |
| 3 | Fundamentals of Robotic Mechanical Systems | [4], [5] |
Learning Assessment
Learning Assessment Procedures
The examination consists of:
- a written test involving the analysis of a mechanical system using the methods studied during the course;
- an oral examination assessing the knowledge of the course content, the relevance of responses to posed questions, proficiency in technical language, and the ability to make connections between program contents.
The final evaluation will be determined by considering the assessment of both tests.
Learning assessment may also be carried out on line, should the conditions require it.
Examples of frequently asked questions and / or exercises
The candidate should describe:
- The dynamics of a simple mechanical model.
- A mass-spring-damper system, both forced and unforced.
- The kinematics equations for a simple mechanical system (four-bar linkage, slider-crank, etc.).
- The wear
- Friction with an example.
- Euler-Lagrange equations and Newton-Euler equations.
- The H-D parameters.
- The fundamentals of a robotic system.
- The fundamentals of a mechatronic system.