Course detail

Mechanics of Handling Equipment

FSI-GMMAcad. year: 2023/2024

The basic problem of solving the mechanics of manipulators is the kinematic analysis of kinematic chains. Formalized solution is based on the matrix methods. There are two types of problems to be solved. These are the direct and indirect problems of position. Inner forces or moments are solved by kinetostatics. The Lagrange equations of motion and a method of mass and force reduction are used. The area of vibrations concentrates on the specification of modal and spectral characteristics. The finite element method is applied for elastic problems and problems of forced vibrations. Attention is also paid to the positioning and orientation of robots.

Language of instruction

Czech

Number of ECTS credits

4

Mode of study

Not applicable.

Guarantor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Entry knowledge

Vector algebra. Matrix algebra. Kinematics of kinematic chains. d´Alambert’s principle. Lagrange’s equations. Linear theory of vibration. Differentiation in more variables.

Rules for evaluation and completion of the course

Course-unit credit is awarded on results in exercises (max. 40 points). The exam has an oral and a written part (max. 60 points).
Attendance at practical training is obligatory.

Aims

The aim of the course is to teach students to create kinematic chains with required properties, create mathematical model by means of computer technology, and to solve the chains from the point of view of kinematics and dynamics. Students will learn how to solve inverse problems of position, propose required energy output of propulsion system units in kinematic pairs.
Students will be made familiar with an automated generation of mathematical models of kinematics chains in a matrix form. They will by able to: solve direct and indirect problems of position of robots; analyse the velocities and accelerations; propose propulsion systems in kinematics pairs and determine generalized coordinates for the required position of chosen junctions; use the computer software Maple and Matlab.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Brát V.: Maticové metody v analýze prostorových vázaných mechanických systémů, , 0
Sciavicco, L.; Siciliano, B. & Sciavicco, B. Modelling and Control of Robot Manipulators Springer-Verlag New York, Inc., 2000
Schwerin, R. v. MultiBody System SIMulation. Numerical Methods, Algorithms, and Software Springer, 199
Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005

Recommended reading

Grepl, R. Kinematika a dynamika mechatronických systémů CERM, Akademické nakladatelství, 2007
Grepl, R. Modelování mechatronických systémů v Matlab/SimMechanics BEN - technická literatura, 2007
Loprais A.: Mechanika manipulačních zařízení, , 0
Stejskal V.: Mechanika výrobních strojů a zařízení, , 0

Classification of course in study plans

  • Programme N-VSR-P Master's 2 year of study, winter semester, compulsory-optional

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

doc. Ing. Robert Grepl, Ph.D.

Syllabus

1. Creating of kinematic chains.
2. Transformation matrices and their use in mechanics of robots.
3. Direct kinematics. Computation of position and velocity of the tool-center-point.
4. Indirect kinematics. Solving by means of an analytical method.
5. Indirect kinematics. Solving by means of a numerical method.
6. Kinetostatic analysis of mechanism (introduction).
7. Matrix method of kinetostatics. Analysis of robots.
8. Lagrange’s equations of motion.
9. Simulation of dynamic system in Matlab/Simulink
10. Modeling of electrical submodels and control structures
11. Automatical model building
12. Spatial visualization of mechanical systems
13. Introduction to nonlinear control using inverse dynamic model

Computer-assisted exercise

13 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