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Syllabus for

Academic year
MMA092 - Rigid body dynamics
 
Syllabus adopted 2012-02-15 by Head of Programme (or corresponding)
Owner: MPAME
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Mechanical Engineering, Engineering Physics
Department: 42 - APPLIED MECHANICS


Teaching language: English
Open for exchange students
Block schedule: B

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Examination 7,5 c Grading: TH   7,5 c   26 Oct 2012 pm H,  Contact examiner

In programs

MPAME APPLIED MECHANICS, MSC PROGR, Year 1 (compulsory elective)
MPAME APPLIED MECHANICS, MSC PROGR, Year 2 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 2 (elective)
MPPDE PRODUCT DEVELOPMENT, MSC PROGR, Year 2 (elective)

Examiner:

Univ lektor  Per-Åke Jansson


Replaces

MME091   Engineering mechanics, advanced course

Course evaluation:

http://document.chalmers.se/doc/00000000-0000-0000-0000-00000F2373C9


Eligibility:

For single subject courses within Chalmers programmes the same eligibility requirements apply, as to the programme(s) that the course is part of.

Course specific prerequisites

Mathematics, in particular linear algebra, integrals and differential equations, and mechanics, in particular dynamics of particles and planar motion of rigid bodies.

Aim

Many machines, such as cars and robots, exhibit a much more complicated, three-dimensional motion than those treated in basic courses in mechanics. Many degrees-of-freedom, complicated constraints, three-dimensional rotations, coupled oscillations, and stability problems are among the complications that may occur. This course gives the tools needed to analyse such problems. Apart from analytical methods, also software for simulating complicated dynamical systems is introduced. The course includes a large, more real world project, which uses both analytical methods and software.

Learning outcomes (after completion of the course the student should be able to)

After completion of the course the student should be able to
- Use advanced kinematics, such as generalized coordinates, rotation matrices, relative motion, Euler angles, and various constraints (joints, rolling, etc).
- Apply Newton's and Lagrange's equations of motion to mechanical systems composed of particles and rigid bodies.
- Calculate eigenfrequencies and modal vectors for mechanical systems characterized by linearized equations of motion.
- Work with commercial software for mechanical systems in simple cases.
- Apply the learned skills to a complex mechanical problem, such as a car suspension or a robot, and show this ability by working with such a problem both analytically and with software.

Content

Particles and systems of particles: kinematics, Newton's laws, conservation laws, oscillations, stability.
Relative motion: rotation matrices, angular velocity and acceleration, motion in moving reference systems.
Rigid body kinematics: Euler angles, constraints, rolling.
Newton's and Lagrange's equations for rigid bodies and systems: planar and three-dimensional motion, gyroscopic motion.
Coupled oscillations: linearization, eigenfrequencies, stability, modal analysis.
Introduction to simulation software.

Organisation

Lectures and problem-solving sessions. A large project runs through the whole course and includes analytical work, some numerical computations with, and simulations in MSC ADAMS.

Literature

Course compendium.

Examination

Written exam and/or project work. Grading: TH - Fail, 3, 4 ,5. Labs in MSC ADAMS.


Page manager Published: Mon 28 Nov 2016.