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.
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.
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.
Abstract linear algebra, classical spatial geometry, classical mechanics, vector analysis
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.
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.
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.
Ricevimento: agreed by email or in voice
MATTEO ZOPPI (President)
RENATO UGO RAFFAELE ZACCARIA
REZIA MOLFINO (President Substitute)
https://corsi.unige.it/10635/p/studenti-orario
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.
50% continuous assessment
