MECHANICS OF MECHANISMS AND MACHINES

MECHANICS OF MECHANISMS AND MACHINES

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iten
Code
80514
ACADEMIC YEAR
2020/2021
CREDITS
5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SCIENTIFIC DISCIPLINARY SECTOR
ING-IND/13
LANGUAGE
English
TEACHING LOCATION
GENOVA (ROBOTICS ENGINEERING )
semester
1° Semester
Teaching materials

OVERVIEW

The course will introduce students to modern mathematical methods of modelling rigid-body motion as applied to the study, design, and control of robotic mechanisms. The focus will be on the geometry, kinematics, and statics of articulated multi-body systems, with targeted applications in mechanism analysis and synthesis, as well as robot dynamics, flexibility, and control.

AIMS AND CONTENT

LEARNING OUTCOMES

Fundamentals of theory of mechanisms and machines: synthesis, analysis, modelling, singularities. Kinematics and elements of dynamics. Serial and parallel architectures. Compliant mechanisms. Architectures for robotics. The Lie group of rigid body displacement. Screw theory.

AIMS AND LEARNING OUTCOMES

The course provides the fundamentals of kinematic geometry. On this basis, the students will be ready to further improve their skills and knowledge and be able to handle various advanced problems arising in the mechanics of robotic systems. In particular, they will have the proper mathematical-modelling foundation to attain more specialized skills and knowledge in areas such as multi-body dynamics or flexibility analysis, which are often of crucial importance in robotics-engineering applications.

An important emphasis of the course is on correcting and developing students’ geometrical intuitions for rigid-body motion in three-dimensional space. For this purpose, visualizations and classical geometry are used in parallel with rigorous mathematical formalisms.

PREREQUISITES

Abstract linear algebra, classical spatial geometry, classical mechanics, vector analysis

Teaching methods

The lectures will cover the topics of the syllabus. The students are expected to take notes and answer questions during the lecture/tutorial sessions. Homework will be assigned continuously and marked. The work on the assignments will play a key role in the final evaluation. A number of tutorials will introduce the use of Maple for modelling mechanisms; one of the assignments will focus on these skills.

Attendance is mandatory.

SYLLABUS/CONTENT

1.  Linear spaces, screws, twists, and wrenches: the basics of screw theory.

2. Application: constraint analysis and synthesis of parallel manipulators.

3. Kinematic geometry of planar mechanisms.

4. Velocity and singularity analysis.

5. Statics of mechanisms.

6. Acceleration in rigid-body systems, introduction to dynamics.

 

RECOMMENDED READING/BIBLIOGRAPHY

Lecture notes and slides.

Hunt, K., 1978, Kinematic geometry of mechanisms, Clarendon Press.

Murray, R.M, Li, Z., and Sastry, S.S., 1994, Mathematical introduction to robotic manipulation, CRC.

John Joseph Uicker, J.J., G. R. Pennock, G.R., and Shigley, J.E., 2016, Theory of Machines and Mechanisms. 5th ed. New York: Oxford University Press.

TEACHERS AND EXAM BOARD

Ricevimento: After lectures and by appointment.

Exam Board

DIMITER ZLATANOV (President)

RENATO UGO RAFFAELE ZACCARIA

MATTEO ZOPPI (President Substitute)

LESSONS

Teaching methods

The lectures will cover the topics of the syllabus. The students are expected to take notes and answer questions during the lecture/tutorial sessions. Homework will be assigned continuously and marked. The work on the assignments will play a key role in the final evaluation. A number of tutorials will introduce the use of Maple for modelling mechanisms; one of the assignments will focus on these skills.

Attendance is mandatory.

LESSONS START

17 September 2018

EXAMS

Exam description

The exam is an oral interview. An important part of the exam is a discussion of the students’ work on the homework assignments and the assessment of their ability to handle other similar tasks. The students must be able to report briefly the basic notions of each of a list of topics covered during the lectures. 

Assessment methods

50% continuous assessment

Exam schedule

Date Time Location Type Notes
28/06/2021 10:00 GENOVA Scritto JEMARO students must attend this exam on: February 15th, 2021
19/07/2021 10:00 GENOVA Scritto JEMARO students must attend this exam on: February 15th, 2021
08/09/2021 10:00 GENOVA Scritto JEMARO students must attend this exam on: February 15th, 2021