Lecture

Mechanical Models in Design: Kinematics and Dynamics

Graph Chat

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.

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 introduces different types of models in mechanical design, including static, kinematic, and dynamic models. It covers topics such as inertia forces, deformable elements, harmonic excitation, and the reduction of complex systems. The instructor explains the limitations of the kinematic model, the influence of flexibility on structural efforts, and the importance of energy conservation in reducing movement. The lecture also delves into the analysis of oscillations, parametric vibrations, and the amplification factor in dynamic systems. Additionally, it discusses the transmission of forces, dynamic errors, and the behavior of non-uniform mechanisms. Practical design considerations, such as balancing rotors, critical speeds, and the reduction of effort transmission, are also addressed.

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

Physics

Mechanics: Classical mechanics

Mechanical engineering

Robotics: Topics in robotics

Related concepts (32)

Kinematics

Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.

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.

Inertia

Inertia is the idea that an object will continue its current motion until some force causes its speed or direction to change. The term is properly understood as shorthand for "the principle of inertia" as described by Newton in his first law of motion. After some other definitions, Newton states in his first law of motion: LAW I. Every object perseveres in its state of rest, or of uniform motion in a right line, unless it is compelled to change that state by forces impressed thereon.

Related lectures (64)

Mechanical Systems Dynamics: Modeling and Analysis

Explores the dynamics of mechanical systems, emphasizing modeling techniques and the impact of deformation and inertia forces.

Dynamics of Mechanical Systems

Explores the laws of space, kinematics, and inertia forces in mechanical systems.

Kinematics of the Material Point

Covers the kinematics of a material point, focusing on speed and accelerations.

Rolling and Review

Covers pure rotation, rolling without slipping, and converting reference frames in physics.

Dynamics of Mechanisms: Theoretical Aspects and Applications