78816 - Mechanics Of Machines for Automation M 1

Learning outcomes

The course aims at strengthening the knowledge of the structure of machines and mechanisms with particular attention to the kinematic, kinetostatic and dynamic analysis of systems with rigid links and to the dynamics of cycle machines. Advanced methods of analysis and synthesis of mechanisms, cams and gears will complement the basic concepts developed at the bachelor level. Elements of machine design and strength of materials are also presented with emphasis to fatigue analysis and structural analysis. At the end of the course students have a deep understanding of all the elements of mechanics that are fundamental for industrial automation, mastering design and construction principles that play a role in modern automatic machines.

Course contents

1.Structure of mechanisms and machines (richiami)

Topology of a mechanism. Degrees of freedom. Redundancy.

2. Kinematic analysis of open and closed kinematic chains: (basic concepts from FMM1 (*) and FMM2 (**) are extended to more complex systems (sigularity, work space, parallel manipulators) and to advanced methods of analysis)

Position analysis.

Velocity and Acceleration analysis.

Synthesis of closed chains.

3. Forces acting in mechanisms (basic concepts from FMM1 (*) and FMM2 (**) are extended to more complex systems (sigularity, work space, parallel manipulators) and to advanced methods of analysis)

Static analysis.

Kinetostatic Analysis.

Dynamic analysis.

4 Friction in mechanisms

5. Transmission of motion (basic concepts from FMM1 (*) and FMM2 (**) are extended to more complex systems and to advanced methods of analysis). For instance, advanced methods are presented for the synthesis of the cam profile for a given law of motion and shape of the follower)

Cams.

Gears.

Gear trains.

6. Equation of motion for a mechanism with rigid links : (basic concepts from FMM1 (*) and FMM2 (**) are extended to more complex systems and to advanced methods of analysis)

Euler-D’Alembert and Euler-Lagrange equations.

7. Dynamic characteristic of mechanisms with rigid links

Internal vibration activity of a mechanism.

Methods of reduction of perturbation moments.

Exercises:

1. Position analysis of an open chain (PUMA robot manipulator)
2. Position analysis of a multiple loop closed chain (Gough-Stewart platform, 6-6 mechanism)
3. Statics and kinetostatics of an open chain
4. Statics and kinetostatics of a closed chain
5. Elements of spatial dynamics
6. Equation of motion of open and closed chains.

Readings/Bibliography

- lecture notes from the teacher

- Kolowsky M.Z., Egrafov A.N., Semenov Yu. A., Slousch A.V., “Advanced Theory of Mechanisms and Machines”, Springer, 2000.

- Erdman and Sandor, “Analysis and Synthesis of Mechanisms”, voll. 1 and 2, 1990, Prentice-Hall.

- Suh C.H. and Radcliffe C. W., “Kinematics and Mechanisms Design”, John Wiley & Sons, 1978.

- Tsai L.W., “Robot Analysis, The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.

- J-P. Merlet. Parallel robots. Kluwer, Dordrecht, 2000.

- Sandler Ben-Zion, “Robotics: Designing the Mechanisms for Automated Machinery”, Academic Press, 1999.

- Rivin, E. I. “Mechanical design of Robots”, McGraw-Hill, 1988.

Teaching methods

The deductive approach is mainly adopted for the presentation of the theory. However, also the deductive approach is used in a number of issues.

The basic elements of the main issues are developed by lectures then a complete set of related applications are developed, with the aim of strengthening and further developing the learned theory.

Assessment methods

The final evaluation of the students is performed by a written examination . Oral exam is also allowed upon request of the student.

Teaching tools

The lectures are supported, when necessary, by physical models of mechanisms and part of machines.

Applications accompany the development of the theory by graphical and analytic methods and software tools (CAD systems and Matlab code).

Office hours

See the website of Vincenzo Parenti Castelli