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Syllabus for

Academic year
SSY155 - Mechatronic design
 
Syllabus adopted 2013-02-19 by Head of Programme (or corresponding)
Owner: MPSYS
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Automation and Mechatronics Engineering, Electrical Engineering
Department: 32 - ELECTRICAL ENGINEERING


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

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Examination 4,5 c Grading: TH   4,5 c   10 Mar 2014 am H,  16 Jan 2014 pm V,  22 Aug 2014 am V
0207 Laboratory 3,0 c Grading: UG   3,0 c    

In programs

MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 1 (compulsory elective)

Examiner:

Docent  Paolo Falcone


Course evaluation:

http://document.chalmers.se/doc/a60965f4-007f-4bb6-94f1-b76bc5a443be


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

Courses: Modelling and simulation (ESS101) and Linear control system design (SSY285).

Aim

The course aims to give theoretical knowledge on design of mechanisms and robots and design of mechatronic systems. The focus will be on design, synthesis and analysis of mechatronic subsystems for control of motion, velocity and position.

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

  • understand and explain how sensing and actuation (measurement and control) can be used to improve the characteristics of a technical system, and to analyze, in a specific case, what is limiting the system performance.

  • understand and explain how the dynamics and kinematics of a robot is important, especially in connection to path planning so that movements can be carried out fast, accurate, and energy efficient.

  • describe how nonlinearities such as backlash, friction and stiffness limits the performance of motion control.

  • explain how to compensate, in the controller design, for backlash, friction and stiffness.

  • discuss possibilities and limitations of mechatronics and to reflect on its impact on humans and on society such as sustainability, user-friendliness and efficiency.

  • apply a systems perspective, using selected model based methods and mathematical models for analysis and/or synthesis of mechatronic systems, and to be able to use computer tools for this purpose.


    Content

    The course includes:

    Robot and mechanism modeling, kinematics and dynamics.

    Mechanisms for motion transmission. Rotary-to-rotary motion transmission mechanisms, rotary-to-translational motion transmission mechanisms

    Actuators. Electric motor and drive technology.

    Modeling and control of friction and backlash in motion systems. Force control.

    Path and trajectory planning.

    Design and analysis of mechatronic systems. Integration of components for system or subsystem design.

    Organisation

    The course comprises lectures and a number of hands on assignments/laboratory experiments that address important parts of the course. These assignments involve modeling, simulation, sensor design and control.

    Literature

    See information elsewhere.

    Examination

    Examination is based on written exam, grading scale TH, and passed assignment/laboration.


Page manager Published: Mon 28 Nov 2016.