Multibody Systems I

Course guarantor:

Lecturer:

Tutor:

Supervisor:

Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

Importance of multibody systems (MBS) mechanics in mechanical engineering. The role of MBS in CAD systems. Succesive approximation method in mechanism design. Modelling of real mechanical systems. Structure analysis of MBS. Kinematic pair. Kinematic chain and system group.Structural description. Application of graph theory. Description of point and body motion. Different notations: vector, matrix, quaternion, screw. Position, velocity, acceleration solutions. Basic motions. Planar and spherical motions. Kinematic analysis of MBS with lower kinematic pairs. Simple open chain, simple mechanism. MBS with higher kinematic pairs. Overconstrained and singular cases of MBS.

Requirements:

Chapters 1-7, 11-12 from the book Stejskal, V. Valasek, M.: Kinematics and Dynamics of Machinery, Marcel Dekker, New York 1996

Syllabus of lectures:

Modelling of mechanical systems.

Multibody systems.

Structural analysis.

Body motion description.

Description of kinematical constraints with lower kinematical joints.

Description of kinematical constraints with higher kinematical joints.

Singular cases.

Accuracy of mechanical systems.

Synthesis and optimization of mechanical systems.

Syllabus of tutorials:

Forward and backward kinematical analysis of given mechanism.

Study Objective:

Study materials:

Stejskal, V. Valasek, M.: Kinematics and Dynamics of Machinery, Marcel Dekker, New York 1996

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans: