Il corso si propone di formare gli allievi ingegneri alla modellazione cinematica e dinamica dei principali sistemi meccanici e delle macchine, lo studio delle vibrazioni di sistemi ad uno o più gradi di libertà, lo studio dei sistemi meccanici robotici.
Durante il corso verranno svolte delle esercitazioni numeriche al computer.
Lezioni frontali: 42 ore
Esercitazioni numeriche: 45 ore
Conoscenza della Analisi I, Fisica I e Fisica matematica.
Obbligatoria
1. Applied Mechanics
Mechanical vibrations
Robotic Mechanical Systems
Multibody Systems
Matlab
Exercises
Course Project
[1] BELFIORE N., DI BENEDETTO A. PENNESTRÌ E.- Fondamenti di Meccanica Applicata alle Macchine, II edizione, Casa Editrice Ambrosiana.
[2] E. PENNESTRÌ, Dinamica e Tecnica Computazionale, Vol. 1 & 2, CEA.
[3] JORGE ANGELES, Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation, Springer.
[4] JORGE ANGELES, Fundamentals of Robotic Mechanical Systems- SPRINGER.
[5] Course notes of the lessons.
http://www.diim.unict.it/users/rsinatra/corsi/lezioni.htm
Argomenti | Riferimenti testi | |
1 | Applied Mechanics | [1], [2], [5] |
2 | Vibrations of Linear Mechanical Systems | [3], [5] |
3 | Fundamentals of Robotic Mechanical Systems | [4], [5] |
The exam consists of:
- the presentation of an exercise that is assigned during the academic year. This paper presented by the end of the course allows access to the oral exam;
- a written test consisting in the study of a mechanical system with the methods studied during the course;
- an oral test based on knowledge of the contents, the relevance of the answers to the questions asked, the ownership of technical language, the ability to make connections between the contents of the program.
The final evaluation will be determined taking into account the evaluation of the three tests.
The candidate describes the dynamics of a simple mechanical model
The candidate describes a forced and non-forced mass-spring-damper system
The candidate writes the equations of the kinematics of a simple mechanical system (four bar linkage, slider cranck etc.)
The candidate describes the wear
the candidate writes the friction with an example
The candidate describes the eq of E-L and N-E
The candidate describes the parameters of H-D
The candidate exposes the kinematics of serial / parallel manipulators.
The candidate exposes the dynamics of serial / parallel manipulators.
The candidate describes the dynamic / kinematic optimization methodologies of robotic mechanical systems.