Mechanics of Handling Equipment (FSI-GMM-K)

Academic year 2021/2022
Supervisor: doc. Ing. Robert Grepl, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
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.
Learning outcomes and competences:
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.
Prerequisites:
Vector algebra. Matrix algebra. Kinematics of kinematic chains. d´Alambert’s principle. Lagrange’s equations. Linear theory of vibration. Differentiation in more variables.
Course contents:
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.
Teaching methods and criteria:
The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.
Assesment methods and criteria linked to learning outcomes:
Course-unit credit is awarded on results in exercises (max. 40 points). The exam has an oral and a written part (max. 60 points).
Controlled participation in lessons:
Attendance at practical training is obligatory.
Type of course unit:
    Guided consultation in combined form of studies  1 × 13 hrs. compulsory                  
    Guided consultation  1 × 26 hrs. optionally                  
Course curriculum:
    Guided consultation in combined form of studies 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
    Guided consultation 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
Literature - fundamental:
1. Spong, M. W.; Hutchinson, S. & Vidyasagar, M. Robot Modeling and Control Wiley, 2005
2. Sciavicco, L.; Siciliano, B. & Sciavicco, B. Modelling and Control of Robot Manipulators Springer-Verlag New York, Inc., 2000
4. Schwerin, R. v. MultiBody System SIMulation. Numerical Methods, Algorithms, and Software Springer, 199
5. Brát V.: Maticové metody v analýze prostorových vázaných mechanických systémů, , 0
Literature - recommended:
1. Grepl, R. Kinematika a dynamika mechatronických systémů CERM, Akademické nakladatelství, 2007
2. Grepl, R. Modelování mechatronických systémů v Matlab/SimMechanics BEN - technická literatura, 2007
3. Loprais A.: Mechanika manipulačních zařízení, , 0
4. Stejskal V.: Mechanika výrobních strojů a zařízení, , 0
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
N-VSR-K combined study --- no specialisation -- GCr 4 Compulsory-optional 2 2 W