last modified 27/05/2003

Coursecode: wb3303
Coursename: Mechanisms

More information on: http://www.ocp.tudelft.nl/tt/cadom/index.htm
Zie ook BLACKBOARD

ECTS creditpoints: 3

Faculty of Mechanical Engineering and Marine Technology

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

Tel.: 015-27 83130

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

Courseyear: MSc 1e jaar
Semester: 2A, 2B
Hours p/w: 2
Other hours:
Assessment: exercise
Assessm.period(s): during course
(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 assesments are provided during the course. Both graphical methods and numerical methods (using the computer program RUNMEC) will be exercised.

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):

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%