MODELING AND SIMULATION OF MECHANICAL SYSTEMS
Academic Year 2016/2017 - 1° YearCredit Value: 9
Scientific field: ING-IND/13 - Applied mechanics
Taught classes: 49 hours
Term / Semester: 1°
ENGLISH VERSION
Learning Objectives
The course intends of forming engineering students with the knowledge for kinematic and dynamic modeling of the main mechanical systems and machines, the study of the vibration of systems with one or more degrees of freedom, the study of robotic mechanical systems.
During the course will be carried out of the numerical computer exercises.
Detailed Course Content
1. Applied Mechanics
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
Matlab
Exercises
Course Project
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.