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.
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