Lecture

Mechanical Systems Dynamics: Modeling and Analysis

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In course

ME-311: Dynamical effects in mechanical design

Ce cours poursuit la compréhension des effets cinématiques et dynamiques de systèmes mécaniques complexes et introduit les bases pour les comprendre et les modéliser. L'étudiant saura expliquer et modéliser la dynamique et choisir des modèles adéquats. ...

Description

This lecture covers the dynamics of mechanical systems, focusing on modeling and analysis techniques to meet specifications in mechanical design. It discusses the importance of sensitivity analysis, operating range identification, and design optimization. Different types of models, such as static, kinematic, and dynamic, are explained, along with the considerations for precision required in modeling. The lecture also delves into the impact of deformation and inertia forces on mechanical systems, emphasizing the role of damping in dynamic models and the significance of neglecting damping in certain scenarios. Through examples like the flaps mechanism for A320, the instructor illustrates the practical applications of kinematic and dynamic models in mechanical design.

Instructor

Jürg Alexander Schiffmann

Teaching & PhD PhD Students Hendrik Dietmar Schillinger, Gabriele Iovanna, Husam Jubran, Selahittin Atilay Zervent, Harshita Ravindra Agarwal, Anupam Jena, Issam Soukhmane, Tristan Wolff Schwab, Aman Jain, Masato Omotsubo, Konstantin Andreas Jacoby, Andrii Artomov, Arnau Catala I Rams, Elize Alwash, Emanuele Pallaoro, Anna Abramishvili Past EPFL PhD Students Violette Mounier, Karim Magdi Zakaria Abdelrahman Shalash, Patrick Hubert Wagner, Markus Diehl, Philipp Kaspar Bättig, Kévin Rosset, Eliott Philippe

Official source

Ontological neighbourhood

Mechanical engineering

Robotics: Topics in robotics

Related concepts (32)

Inverse kinematics

In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.

Robot kinematics

In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.

Forward kinematics

In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.

Kinematic chain

In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.

Kinematic pair

In classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.

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