Unit MECHANICS APPLIED
- Course
- Industrial engineering
- Study-unit Code
- A000402
- Curriculum
- In all curricula
- Teacher
- Maria Cristina Valigi
- Teachers
-
- Maria Cristina Valigi
- Hours
- 48 ore - Maria Cristina Valigi
- CFU
- 6
- Course Regulation
- Coorte 2020
- Offered
- 2020/21
- Learning activities
- Caratterizzante
- Area
- Ingegneria meccanica
- Academic discipline
- ING-IND/13
- Type of study-unit
- Obbligatorio (Required)
- Type of learning activities
- Attività formativa monodisciplinare
- Language of instruction
- Italian
- Contents
- -Modeling and simulation of dynamic systems
-Introduction to the control of systems in feedback. Applications and exercises on the PC.
-Kimematics of industrial robots - Reference texts
- -Ramin S. Esfandiari
Bei Lu"Modeling
and Analysis of
DYNAMIC
SYSTEMS" CrC Press
-L.Sciavicco,B,Siciliano"Robotica"McGraw Hill - Educational objectives
- Learning the tools of modeling and simulation of mechanical systems
-Learning and applying tools for the study of the Kinematics of industrial robots. - Prerequisites
- Mechanics of machines
- Teaching methods
- Face to face and PC tutorial.
- Other information
- Attending students have the possibility of examination in itinere.
- Learning verification modality
- A written examination and simulation with the PC. and an oral examination.
- Extended program
- Modeling and simulation of mechanical systems.
Models of mechanical Systems: rigid-body systems and deformable body systems. Insulation and effectiveness of suspensions. Linear systems and writing of the equation of motion: Method of dynamic equilibria and use of Lagrange equations. Study of linear systems SDOF and MDOF with tempoinvariant lumped parameters. Equations of motion in matrix form. Nonlinear systems and writing the equation of motion. Linearization. Modeling with transfer matrices. Introduction to finite element modelling. Modeling in the state space. System response. Introduction to feedback systems control. Examples using PC tutorials.
Elements of Kinmematics of industrial robots: manipulators , D-H convention, differential Kinemematics. Trajectories.