MODELING AND SIMULATION OF MECHANICAL SYSTEMS
Academic Year 2022/2023 - Teacher: Rosario SINATRAExpected Learning Outcomes
The course intends to form engineering students with the knowledge for kinematic and dynamic modelling of the main mechanical systems and machines, the study of the vibration of systems with one or more degrees of freedom and the study of robotic mechanical systems.
During the course, numerical computer exercises will be carried out.
Course Structure
Lectures for 42 hours;
Numerical exercises for 45 hours.
Should teaching be carried out in mixed mode or remotely, it may be necessary to introduce changes with respect to previous statements, in line with the programme 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
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
Exercises
- Exercises for each Year
- Matlab
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.
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 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.
Examples of frequently asked questions and / or exercises
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.