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Institutionernas kurser för doktorander

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Kursplan för

Läsår
MMA092 - Rigid body dynamics
 
Kursplanen fastställd 2009-02-23 av programansvarig (eller motsvarande)
Ägare: MPAME
7,5 Poäng
Betygskala: TH - Fem, Fyra, Tre, Underkänt
Utbildningsnivå: Avancerad nivå
Huvudområde: Automation och mekatronik, Maskinteknik, Teknisk fysik
Institution: 42 - TILLÄMPAD MEKANIK


Undervisningsspråk: Engelska

Modul   Poängfördelning   Tentamensdatum
Lp1 Lp2 Lp3 Lp4 Sommarkurs
0107 Tentamen 7,5 hp Betygskala: TH   7,5 hp   15 Dec 2010 em M,  Kontakta examinator,  Kontakta examinator

I program

MPPDE PRODUCT DEVELOPMENT, MSC PROGR, Årskurs 2 (valbar)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Årskurs 1 
MPAME SOLID AND FLUID MECHANICS, MSC PROGR - Computational solid mechanics, Årskurs 1 (obligatorisk)
MPAME SOLID AND FLUID MECHANICS, MSC PROGR - Structural dynamics, Årskurs 1 (obligatorisk)
MPDES INDUSTRIAL DESIGN ENGINEERING, MSC PROGR, Årskurs 1 (obligatorisk)

Examinator:

Univ lektor  Per-Åke Jansson


Ersätter

MME091   Mekanik, forts-kurs


Behörighet:

För kurser inom Chalmers utbildningsprogram gäller samma behörighetskrav som till de(t) program kursen ingår i.

Kursspecifika förkunskaper

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

Syfte

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.

Lärandemål (efter fullgjord kurs ska studenten kunna)

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 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.

Innehåll

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 MATLAB, and simulations in MSC ADAMS.

Litteratur

A course compendium.

Examination

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


Sidansvarig Publicerad: må 13 jul 2020.