MODELING AND SIMULATION OF MECHANICAL SYSTEMS
Academic Year 2023/2024 - 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 49 hours;
Numerical exercises for 30 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
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
- 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 two 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 describes the basics of robotic mechanical systems.
The candidate describes the basics of mechatornic systems.