354-0609/01 – CAD 2 - Motion Analysis of Mechanisms (CAD2)
| Gurantor department | Department of Robotics | Credits | 3 |
| Subject guarantor | doc. Ing. Aleš Vysocký, Ph.D. | Subject version guarantor | doc. Ing. Aleš Vysocký, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 1 | Semester | winter |
| | Study language | Czech |
| Year of introduction | 2021/2022 | Year of cancellation | |
| Intended for the faculties | FS | Intended for study types | Follow-up Master |
Subject aims expressed by acquired skills and competences
In this course, students will be introduced to methods of calculating kinematic quantities for solving direct and inverse problems of kinematics, dynamic quantities - reactions and loading forces for the purpose of dimensioning mechanisms in motion, modeling and simulation of motion of mechanisms and determining collisions of mechanism components.
Teaching methods
Lectures
Tutorials
Project work
Summary
In this course, students will be introduced to methods of calculating kinematic quantities for solving direct and inverse problems of kinematics, dynamic quantities - reactions and loading forces for the purpose of dimensioning mechanisms in motion, modeling and simulation of motion of mechanisms and determining collisions of mechanism components.
Compulsory literature:
Recommended literature:
Additional study materials
Way of continuous check of knowledge in the course of semester
Continuous check and point evaluation of exercise results. The result is a semestral project.
E-learning
Other requirements
There are no additional requirements for the student.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
1. Introduction to the product for calculation
2. Creation of mechanisms, types of links of cells, definition of mechanism bodies, setting of units, use of user coordinate systems, assignment of body material, determination of mass parameters.
3. Creation of constraints, types of constraints - kinematic pairs of various types (joints, joints), calculation of degrees of freedom, redundancy, setting of initial position and velocity conditions, basic constraints - fixed connection (weld, Weld), rotational kinematic couple (Pin) , translation kinematic pair (Slider)
4. Extended types of constraints - Cylindrical, Spherical (Ball), Bearing, Planar binding.
5. Extended types of links - loose (6DOF), general.
6. Creation of external load, load by force, moment, introduction of gravity.
7. Creation of drives, types of drives, setting and displaying the course of position, speed and acceleration of drives.
8. Internal variables (measures), predefined internal variables, computed internal variables, use of internal variables and their display.
9. Creating contact areas, defining material, defining material damping, editing contact areas.
10. Use of cams, definition of cam-thumb pair, definition of internal variables for cams.
11. Tooth gears, creation of a pair of gears, types of gearing, use of toothed belts.
12. Types of built-in analyzes, motion analysis, setting of analysis parameters, setting of initial analysis conditions, displaying results of motion analysis.
13. Animation of mechanism movement
14. Investigation of interferences of individual mechanism bodies.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction