Description
Objectives
To present computational formulations for the kinematic and dynamic analysis of mechanical systems. To introduce computational methods and algorithms for the systematic construction of the kinematic and dynamic equations. To use kinematic and dynamic analysis codes and acquire the knowledge to develop and integrate new sub-programs associated to new kinematic joints and force elements. To explore the use of existing computational codes and tools for mechanical design and acquire the ability to develop models for mechanical systems to be applied in the analysis, control and mechanical and mechatronic design.
Syllabus
Introduction: Concept of mechanism; joints and rigid and flexible boy; 2D and 3D analysis; Kinematic analysis; Inverse kinematics; Forward and inverse dynamics; Synthesis. Planar kinematics: Coordinates, constraints and joints; Position, velocity and acceleration equations; Kinematic joints; Review of numerical methods; Relative coordinates; Lagrangean vs Cartesian coordinates; Analytical and numerical Jacobian matrix. Planar dynamics: Equations of motion; Force vector; Fore elements; Constraint forces; Lagrange multipliers; System of equations of motion; Static equilibrium; Numerical methods for ODE; Constraint stabilization; Relative coordinates; Spatial Dynamics; Large rotations; Relative coordinates; Denavit-Hartenberg parameters; Kinematic equations; Analytical and numerical components; Equations of motion; Applications to biomechanics, vehicle dynamics, robotics and mechanical and mechatronic design.
Prerequisites
Without prerequisites.
Cross Competence Component
Critical thinking and innovation - Via the identification of the performance criteria and solution for the design of mechanisms (10% of the project grade); Inter-personal competencies - via oral presentation, written comunication and group work (10% of the project grade); Leadership - via group work (5% of the project grade).
Laboratorial Component
Computational laboratory for the development of kinematics and dynamics programs and for the use of commercial codes.
Programming And Computing Component
Abstraction; Automation; Decomposition; Debbuging; Genaralization; Algorithmic rationalle. (30% of each project grade).
Ethical Principles
All members of a group are responsible for the group’s work In any assessment, every student shall honestly disclose any help received and sources used. In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.