Updated: January  2009

Teaching activity

Course: Fundamentals on Mechanics of Machinery

SSD: ING-IND13 CFU: 9

lecture hours: 50 Numerical practices: 25 Laboratory: 0

Goals: The course is aimed to give technical information and methodologies to students for approaching problems on identification, modelling, analysis, and simulation of multi-body systems as particularly focused on planar mechanisms.

Contents: backgrounds on vector algebra, planar kinematics: relative motion, loci, polodes, Coriolis acceleration; kinematic pairs and force couplings; analysis of planar mechanisms; equivalent mechanisms; inflection and stationary circles; curvature of coupler curves; polar diagrams for velocity and acceleration analysis; Grubler equation and Grashof rule. Applied dynamics: inertia forces and applied forces; mechanical modelling; Newton-Euler equations; D’Alembert Principle; free body analysis and equilibrium conditions, analysis of body on a slope, rotational joint, and other basic systems; work, power, and energy; principals of energy conservation and virtual power; dynamic analysis of planar systems, equations of motion, performance indices, serial and parallel machines; mechanical transmissions: friction wheels, gears, cams, beatings, flywheels, brakes, and belts.

Textbooks:

Lopez-Cajùn C., Ceccarelli M., Mecanismos, Trillas, Città del Messico -

Baschimidth N. et al, 'Fondamenti di meccanica teorica e applicata, Mcgraw Hill Italia

Ghigliazza M., Galletti C., "Meccanica Applicata alle Macchine", UTET, Torino

Shigley J.E., Pennock G.R., Uicker J.J., “Theory of Machines and Mechanisms”, McGraw-Hill, New York

Suggested prerequisites: Physics.

Mode for exams:  written exercise and oral discussion.

Course: Robots and automatic mechanical systems

SSD: ING-IND/13 CFU: 9

Lecture hours: 40 Numerical Practice: 25 Laboratory: 20

Goals: The course is aimed to give technical information and methodologies to students for modelling, operation analysis, simulation, and design of robots and automatic mechanical systems.

Contents: types and components of automatic machines. Fundamentals of kinematics and dynamics of automatic mechanisms, types and applications of industrial robots, technical characteristics and evaluation. Analysis of automatic manipulations, elementary actions. Analysis and programming of robotized manipulations. Kinematics of robots: modelling, D-H parameters, degree of freedom, classification, direct kinematics, transformation matrix, workspace analysis, performance indices, dexterity, precision and accuracy. Grasping devices: types and operation. Mechanics of grasp: modelling, actions, equilibrium conditions. Automatic mechanic systems: type and operation modes; cams, linkages, dwell mechanisms. Path planning: formulation, multiple solutions, and solution algorithms. Analysis of velocity and acceleration. Jacobian and singularities. Statics: modelling, numerical algorithm, actuation design. Dynamics: modelling, Newton-Euler equations, Lagrange formulation, friction effects, compliance effects, stiffness evaluation. Parallel manipulators and mobile robots:  types and characteristics, fundamentals on kinematics, Statics, and dynamics.

Laboratory practices with industrial robots and automatic machines

Suggested Prerequisites: Fundamentals of Mechanics of Machinery, Fundamentals on Measuring

Textbooks: M. Ceccarelli, Fundamentals of robotic manipulation, Kluwer/Springer;

J.J CRAIG, Introduction to Robotics: Mechanics and Control, Addison-Wesley Pub. Co.

Angeles J., “Fundamentals of Robotic Mechanical Systems”, Springer, New York.

Magnani. P.L., Ruggieri G., " Meccanismi per macchine automatiche", UTET, Torino.

Mode for exams: oral discussion.

Title: Basics of Mechanics of Machinery

SSD: ING-IND13 CFU: 3

lecture hours: 21 Numerical practices: 3 Laboratory: 0

Number of Credits: 3

Goal: the aim of the course is to give basic knowledge and methodologies for modeling, characterizing, analyzing, multi-body systems and particularly planar mechanisms.

Course Content: Introduction to the course, classification and application of mechanisms for machines. Planar Kinematics: kinematics of a point and rigid body, relative motions and geometrical loci, polodes, Grubler formula, Chasles’s theorem, kinematic pairs, force couplings; analysis of planar mechanism with planar kinematic pairs; Kinematics with close-loop equation. Statics and Dynamics: inertial characteristics and applied forces, mechanical models; free-body diagram method, Newton-Euler equations, D'Alembert Principle, conditions for dynamic equilibrium; work, power, and energy; Principle of virtual works; dynamic analysis of planar systems. Mechanical transmissions: wheels, gears and gearing systems, bearings.

Assessment: oral examination

 Textbooks:

Shigley J.E., Pennock G.R., Uicker J.J., “Theory of Machines and Mechanisms”, McGraw-Hill, New York

Scotto Lavina G., “Lezioni di Meccanica applicata alle macchine”, Ed Siderea, Roma.

Ghigliazza M., Galletti C., "Meccanica Applicata alle Macchine", UTET, Torino.

Title: Laboratory of Mechanics of Machinery

SSD: ING-IND13 CFU: 3

lecture hours: 5 Numerical practices: 12 Laboratory: 18

Number of Credits: 3

Goal: the aim of the course is to give knowledge and methodologies for modelling and test of mechanisms for automatic machines.

Preliminary Course requirements: Fundamentals of Mechanics of Machinery

Assessment: written examination

Laboratory Content: Modelling for Kinematics of multi-body systems. Modelling and simulation of Dynamics of multi-body systems. Simulation with Matlab of Kinematics and Dynamics of planar mechanisms. Simulation with Solidworks and Cosmos-Motion of planar mechanisms. Experimental activity with test-bed: cam trasmission, brake system and linkage trasmission. Examples and simulations of mechanisms for automatic machines.