Coursecode: wb3303
Coursename: Mechanisms

More information on: http://www-tt.wbmt.tudelft.nl/cadom/index.htm

DUT creditpoints: 2
ECTS creditpoints: 3

Subfaculty of Mechanical Engineering and Marine Technology

Lecturer(s): Klein Breteler, dr.ir. A.J.

Tel.: 015-2783130

Catalog data:
Kinematics, kinetostatics and dynamics of (co-planar) mechanisms, kinematic optimization, numerical method (FEM), system drive+mechanism+process.

Courseyear: 3
Semester: 0/0/2/2/0
Hours p/w: 2
Other hours:
Assessment: exercise
Assessm.period(s): 4, 6
(see academic calendar)

Prerequisites:

Follow up: wb5414, wb3406B

Detailed description of topics:

• Introduction: kinematic transfer function, time-dependent motion, co-planar mechanism

• Classical kinematics and differential geometry. Terminology, selection of theory and graphical methods (1st and 2nd pole, Mehmke, Aronhold, Euler/Savary, Bresse);

• Finite element method in kinematic analysis. Kinematic elements (co-ordinates and form parameters), continuity equations, generalized transfer function (order 0, 1, 2), numerical calculation scheme, special elements (pair of gears, cam and follower).

• Kinematic optimization by gradient method. Constraints (penalty functions). Derivatives calculated from FEM-equations. Protection of the kinematic parameter space.

• Inverse kinematics in the design of cam mechanisms and manipulators

• Kinetostatic and dynamic analysis of mechanisms by FEM-method. Applied and internal forces (stress), virtual work. Modelling support-, connection- and driving forces. Mass- and stiffness matrix. Equation of motion (Wittenbauer I and II type). Deformation and vibration during motion. Motor models and selection of a drive. Servo driven systems.

Course material:
lecture notes Part 1: theory; Part 2: user manual of computer program

References from literature:

Remarks (specific information about assesment, entry requirements, etc.):
Individual exercise using the computer program RUNMEC

Goals:
To describe a general theory for numerical analysis of the motion of mechanisms. The FEM-method is adopted and will be applied to both kinematics and dynamics. Necessary extensions are introduced for special types of elements and large mechanism motions.

Computer use:
Use of a personal computer, at home or at the university.

Laboratory project(s):
The exercise for the assesment has the nature of a practicum. Both graphical methods and the computer program will be exercised. Allowed time period is 2 weeks, required amount of hours is ca. 20. The exercise can be done at home.

Design content:
Analysis of mechanism motion is an essential topic in mechanism design. It will be required in various areas of mechanical engineering and machine design.

Percentage of design: 100%