Unit MULTIBODY MODELLING AND DESIGN VS. DYNAMICS

MULTIBODY MODELLING THEORY

Code	A006053
CFU	4
Teacher	Massimiliano Palmieri
Teachers	Massimiliano Palmieri
Hours	32 ore - Massimiliano Palmieri
Learning activities	Affine/integrativa
Area	Attività formative affini o integrative
Sector	ING-IND/14
Type of study-unit	Opzionale (Optional)
Language of instruction	Italian
Contents	The course “Modellazione e progettazione dinamica multicorpo” aims to describe and provide the foundations for adopting one of the most innovative approaches to the dynamic design of complex mechanical systems. In the module of “Teoria della modellazione multicorpo”, theoretical concepts related to multibody analysis will be introduced, which are essential for developing multibody models and simulations, as well as for understanding the results.
Reference texts	A. Shabana, “Dynamics of multibody systems”, Cambridge University Press. P.E. Nikravesh, “Planar multibody dynamics: Formulation, Programming and Applications”, CRC Press.
Educational objectives	Students will gain theoretical knowledge in multibody modeling necessary to analyze the dynamic behavior of linear and nonlinear mechanical machines or systems.
Prerequisites	In order to understand and be able to apply some of the techniques described in the teaching, preliminary knowledge of "Progettazione in Campo Dinamico"is required.
Teaching methods	The module is organized in: • classroom lectures during which theoretical topics of multibody modeling are illustrated. • In parallel, classroom exercises will be carried out to help students better understand the theoretical concepts covered. All the teaching material used during the course is available through the Unistudium platform.
Other information	Further information is available through the Unistudium page of the course. The teacher is available for consultations at the end of each lesson; consultations with the teacher in person or through the Microsoft Teams platform can also be arranged at other times.
Learning verification modality	The exam for the course of “Modellazione e progettazione dinamica multicorpo” of which the module “Teoria della modellazione multicorpo” consists of an oral exam aimed at verifying the knowledge of all the topics covered.
Extended program	Rigid body kinematics and dynamics: rotation matrices, Euler angles, Newton-Euler equations. Energy, momentum. Generalized coordinates and constraints: holonomic and non-holonomic, degrees of freedom. Lagrangian formulation: equations with and without constraints, Lagrange multipliers. System topology, joints, bilateral and unilateral constraints. Contacts and friction. Flexible bodies: absolute and modal coordinates, discretization, mass and stiffness matrices. Numerical integration.
Obiettivi Agenda 2030 per lo sviluppo sostenibile	Goal 4: Quality education Goal 9: Industry, innovation and infrastructure

MODULE B - MULTIBODY MODELLING AND SIMULATION FOR MECHANICAL DESIGN

Code	A006054
CFU	5
Teacher	Massimiliano Palmieri
Teachers	Massimiliano Palmieri
Hours	40 ore - Massimiliano Palmieri
Learning activities	Affine/integrativa
Area	Attività formative affini o integrative
Sector	ING-IND/14
Type of study-unit	Opzionale (Optional)
Language of instruction	Italian
Contents	The course “Modellazione e progettazione dinamica multicorpo” aims to describe and provide the basis for the adoption of one of the most innovative approaches to the design of complex mechanical systems in the dynamic field. In the module “modellazione e simulazione multicorpo per la progettazione” multibody modeling will be applied through the adoption and description of a commercial software. Students will be supported during the development of a case study to be performed individually.
Reference texts	Hexagon, Adams View User's Guide A. Shabana, “Dynamics of multibody systems, Cambridge University Press
Educational objectives	Students will gain knowledge in multibody modeling and then be able to apply it to analyze the dynamic behavior of linear and nonlinear mechanical machines or systems.
Prerequisites	In order to understand and be able to apply some of the techniques described in the teaching, preliminary knowledge of "Progettazione in Campo Dinamico"is required.
Teaching methods	The module is organized in: • classroom lectures during which multibody modeling techniques are illustrated using MSC.ADAMS numerical language • in parallel, classroom exercises will be carried out to allow students to independently develop some industrial cases All the teaching material used during the course is available through the Unistudium platform.
Other information	Further information is available through the Unistudium page of the course. The teacher is available for consultations at the end of each lesson; consultations with the teacher in person or through the Microsoft Teams platform can also be arranged at other times.
Learning verification modality	The exam for the course of “Modellazione e progettazione dinamica multicorpo” of which the module “modellazione e simulazione multicorpo per la progettazione” represents the application part of the course, consists of two parts: • a project work to be delivered/sent one week before the exam; • an oral exam. The project work is aimed at verifying the ability to apply the methodologies acquired in class. The oral exam is aimed at verifying the knowledge of all the topics covered.
Extended program	Multibody modeling (rigid bodies). Linear and nonlinear modeling methodologies. Constraints and forces. Dynamic simulation. Linearization in the state space and introduction to nonlinear cosimulation. Introduction of flexibility in the multibody model. Modal reduction approach by Craig & Bampton. Theory and methodology for obtaining the modal model using commercial FEM code and introduction and its management in the multibody simulation environment. Development of a case study in the classroom. Independent development of a case study
Obiettivi Agenda 2030 per lo sviluppo sostenibile	• Goal 4: Quality education • Goal 9: Industry, innovation and infrastructure