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