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MECHANICS OF MECHANISMS AND MACHINES

CODE 80514
ACADEMIC YEAR 2022/2023
CREDITS
  • 5 cfu during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA
  • SCIENTIFIC DISCIPLINARY SECTOR ING-IND/13
    LANGUAGE English
    TEACHING LOCATION
  • GENOVA
  • SEMESTER 1° Semester
    TEACHING MATERIALS AULAWEB

    OVERVIEW

    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.

    AIMS AND CONTENT

    LEARNING OUTCOMES

    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.

    AIMS AND LEARNING OUTCOMES

    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.

    PREREQUISITES

    Abstract linear algebra, classical spatial geometry, classical mechanics, vector analysis

    TEACHING METHODS

    The lectures will cover the topics of the syllabus. The students are expected to take notes and answer questions during the lecture/tutorial sessions.

    Attendance is mandatory.

    SYLLABUS/CONTENT

    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 analysis.

    5. Statics of mechanisms.

     

    RECOMMENDED READING/BIBLIOGRAPHY

    Lecture notes and slides.

    Hunt, K., 1978, Kinematic geometry of mechanisms, Clarendon Press.

    TEACHERS AND EXAM BOARD

    Exam Board

    MATTEO ZOPPI (President)

    RENATO UGO RAFFAELE ZACCARIA

    REZIA MOLFINO (President Substitute)

    LESSONS

    Class schedule

    All class schedules are posted on the EasyAcademy portal.

    EXAMS

    EXAM DESCRIPTION

    Written exam or alternatively an oral interview based on the number of students per session.

    ASSESSMENT METHODS

    final exam

    Exam schedule

    Date Time Location Type Notes

    FURTHER INFORMATION

    none