MODELING AND SIMULATION OF MECHANICAL SYSTEMS

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.

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.