KINEMATICS OF MECHANISMS
ECTS credits: 4
The general objectives of this course are: a) help students visualize and understand actual mechanical configurations with their constraints and practical limitations and, b) provide guidelines to formulate problems and relate theory and practice.
The specific objectives are: a) the ability to analyse the motions in two- and three-dimensions of mechanical systems in realistic conditions and b), apply the theory to classic mechanisms and motion transformers.
1 – Theory of Screws (Wrenches) – A simplified approach
- Definitions, sum and moment, shifting equation, scalar invariants, special screws, central axis, Delassus’ theorem.
- Applications to Statics
2 – Locations of solids – Constraints.
- Definitions: rigid-solids, material and geometrical points, motion, physical frames, and coordinate systems, path of motion, kinematical parameters,
- Location of free solids, Eulerian angles
- Solids submitted to constraints – Classic joints
- Applications to mechanical systems (U-joints, cams, crank-rod, etc.)
3 – Kinematics of rigid-solids
- Velocity and acceleration of a point
- Velocity field for rigid-solids, kinematical screw, instant angular velocity vector,
- Absolute and relative derivatives of vectors
- Acceleration field for rigid-solids
- Combinations of motions
- Fundamental motions
- Applications to mechanical systems (pumps, systems of bars, U-joints, etc.)
4 – Contact kinematics
- Point contact kinematics, sliding, rolling, pitching, fundamental properties of rigid-solid kinematics,
- Applications to gear kinematics, planetary gears, differential, rolling element bearings