MODELING AND SIMULATION OF MECHANICAL SYSTEMS

Il corso si propone di formare gli allievi ingegneri alla modellazione cinematica e dinamica dei principali sistemi meccanici e delle macchine, lo studio delle vibrazioni di sistemi ad uno o più gradi di libertà, lo studio dei sistemi meccanici robotici.

Durante il corso verranno svolte delle esercitazioni numeriche al computer.

Lezioni frontali: 42 ore

Esercitazioni numeriche: 45 ore

Qualora l'insegnamento venisse impartito in modalità mista o a distanza potranno essere introdotte le necessarie variazioni rispetto a quanto dichiarato in precedenza, al fine di rispettare il programma previsto e riportato nel syllabus.

Conoscenza della Analisi I, Fisica I e Fisica matematica.

Obbligatoria

1. 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

Robotic Mechanical Systems

• Geometry of Serial Decoupled Robots
• Kinetostatics of Serial Robots
• Dynamics of Serial Robotic Manipulators
• Recursive inverse dynamics
• The Normal Orthogonal Complement
• NOC for Planar Manipulators
• Kinematics of Parallel Manipulators
• Dynamics of Parallel Manipulator

Multibody Systems

• Multibody systems Part 1
• Multibody systems Part 2

Matlab

• Introduction to Matlab for Engineers

Exercises

• Exercises for each Year
• Matlab

Course Project

[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.

The exam consists of:
- the presentation of an exercise that is assigned during the academic year. This paper presented by the end of the course allows access to the oral exam;
- a written test consisting in the study of a mechanical system with the methods studied during the course;
- an oral test based on knowledge of the contents, the relevance of the answers to the questions asked, the ownership of technical language, the ability to make connections between the contents of the program.
The final evaluation will be determined taking into account the evaluation of the three tests.

Learning assessment may also be carried out on line, should the conditions require it.

The candidate describes the dynamics of a simple mechanical model

The candidate describes a forced and non-forced mass-spring-damper system

The candidate writes the equations of the kinematics of a simple mechanical system (four bar linkage, slider cranck etc.)

The candidate describes the wear

the candidate writes the friction with an example

The candidate describes the eq of E-L and N-E

The candidate describes the parameters of H-D

The candidate exposes the kinematics of serial / parallel manipulators.

The candidate exposes the dynamics of serial / parallel manipulators.

The candidate describes the dynamic / kinematic optimization methodologies of robotic mechanical systems.