Modeling and Simulations II (FSI-RKD-A)

Academic year 2020/2021

Supervisor:	doc. Ing. Robert Grepl, Ph.D.
Supervising institute:	ÚMTMB	all courses guaranted by this institute
Teaching language:	English
Aims of the course unit:
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.
Learning outcomes and competences:
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.
Course contents:
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 and Maple. 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.
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:
The evaluation is based on the standard point system 0-100b. The students can get up to 40 points for the individual semestral project and its presentation and up to 60 points for the final test. The final test consists of a theoretical test, assignments in Matlab/Simulink and a discussion. In all cases, especially the fulfillment of functional requirements and the quality of the realization are the evaluation criteria.
Controlled participation in lessons:
Attendance at practical training is obligatory. Attendance at exercises is checked.
Type of course unit:
Lecture	13 × 2 hrs.	optionally
Computer-assisted exercise	13 × 2 hrs.	compulsory
Course curriculum:
Lecture	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	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. Dynamic Simulation of Electric Machinery Using Matlab Simulink, Prentice Hall, 1998
2. Wood, G.D.: Simulating mechanical systems in Simulink with SimMechanics, The MathWorks Inc.,www.mathworks.com, 2002
3. Corke,P.I.: A Robotics Toolbox for Matlab, IEEE Robotics and Automation Magazine, pp.24–32, 1996
4. Stejskal, V. a kol.: Mechanics Using Matlab, Leonardo Pilot project No. CZ/98/1/82500/PI/I.1.1.b/FPI, 2001
Literature - recommended:
1. Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
2. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995