|SCIENTIFIC DISCIPLINARY SECTOR||ING-IND/13|
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.
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 analysis.
5. Statics of mechanisms.
Lecture notes and slides.
Hunt, K., 1978, Kinematic geometry of mechanisms, Clarendon Press.
Office hours: always by appointment
MATTEO ZOPPI (President)
RENATO UGO RAFFAELE ZACCARIA
DIMITER ZLATANOV (President Substitute)
All class schedules are posted on the EasyAcademy portal.
Written exam or alternatively an oral interview based on the number of students per session.