Course detail

Kinematics and Dynamics of Mechatronic Systems

FSI-RKD-AAcad. year: 2012/2013

The course deals with the kinematics and dynamics modelling of controlled mechatronic systems. Previous knowledge of mechanics is developed, mainly with focus on numerical solution of problems on computers. Mechanisms are considered as rigid multi body systems. Exercises run on computers using Matlab. Forward and inverse kinematic model is solved using analytical and numerical methods. Dynamic model is built using Newton's method, Lagrange equations and automatically (Matlab/SimMechanics). Modelling of electrical and regulation structures such as submodels of complex models are also discussed.

Language of instruction

English

Number of ECTS credits

5

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Offered to foreign students

Of all faculties

Learning outcomes of the course unit

After the course graduation, students will be able to:
- build and solve forward and inverse kinematic model of arbitrary kinematic chain with open topology
- consider the suitability of a particular method in kinematics
- build and solve analytical dynamic models of simple mechanical systems
- be well informed about numerical modelling of complex mechatronics systems

Prerequisites

Vector algebra. Matrix algebra. Basics of kinematics and dynamics. Newton method, Lagrange equations. Basic of programming.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations.

Assesment methods and criteria linked to learning outcomes

The course is evaluated on the base of active participation in exercises and the result of semestrer project.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

Students are acquainted with modern approaches to solution of kinematic and dynamic problems. The aim of the course is the control of real machines and their simulationg models. The emphasis is given on using of computers. Theoretical information is applied on particular problem solutions in the scope of semestral project.

Specification of controlled education, way of implementation and compensation for absences

Attendance at exercises is checked. Students are supposed to prepare semestrer project.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Corke,P.I.: A Robotics Toolbox for Matlab, IEEE Robotics and Automation Magazine, pp.24–32, 1996
Dynamic Simulation of Electric Machinery Using Matlab Simulink, Prentice Hall, 1998
Stejskal, V. a kol.: Mechanics Using Matlab, Leonardo Pilot project No. CZ/98/1/82500/PI/I.1.1.b/FPI, 2001
Wood, G.D.: Simulating mechanical systems in Simulink with SimMechanics, The MathWorks Inc.,www.mathworks.com, 2002

Recommended reading

Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Introduction to kinematics and dynamics of rigid bodies
2. Spatial representation of body in space, their transformation
3. Forward kinematic model - analytical methods
4. Inverse kinematic model - analytical model, numerical approach
5. Trajectory generation
6. Kinetostatics
7. Analytical methods of dynamics model building
8. Analytical methods of dynamics model building
9. Numerical methods of dynamics model solving
10. Modelling of discontinuities modelling
11. Simulation of dynamic model in Matlab and Matlab/Simulink
12. Modelling of electrical submodels and control structures
13. Automatic building of dynamic model

Computer-assisted exercise

26 hod., compulsory

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Matlab and its usage for kinematic and dynamic modelling. Examples of models.
2. Modelling of kinematics in Matlab and using Robotic Toolbox
3. Modelling of dynamics in Matlabu, examples
4. Modelling of dynamics in Matlabu/Simulink, examples
5. Modelling of dynamics in Matlabu/SimMechanics, examples
6.-12. Semestrer project
13. Presentation of semestrer project, evaluation