354-0609/02 – CAD 2 - Motion Analysis of Mechanisms (CAD2)

Gurantor departmentDepartment of RoboticsCredits3
Subject guarantordoc. Ing. Zdenko Bobovský, PhD.Subject version guarantorIng. Aleš Vysocký, Ph.D.
Study levelundergraduate or graduateRequirementCompulsory
Year1Semesterwinter
Study languageEnglish
Year of introduction2021/2022Year of cancellation
Intended for the facultiesFSIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
BOB0001 doc. Ing. Zdenko Bobovský, PhD.
OSC0011 Ing. Petr Oščádal
PAS0067 Ing. Robert Pastor, Ph.D.
SUD0014 Ing. Jiří Suder, Ph.D.
VYS0016 Ing. Aleš Vysocký, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Graded credit 1+3

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:

Zhao, J. Advanced theory of constraint and motion analysis for robot mechanisms. Place of publication not identified: ELSEVIER ACADEMIC Press. 2017, ISBN 9780124201620

Recommended literature:

Chang, K.-H. Mechanism Design and Analysis Using PTC Creo Mechanism 6.0, SDC Publications, 2015, ISBN 9781585039463

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

Full-time form (validity from: 2021/2022 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of pointsMax. počet pokusů
Graded credit Graded credit 100  51 3
Mandatory attendence participation: An attendance on the seminars is minimum 80%.

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Conditions for subject completion and attendance at the exercises within ISP:

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Occurrence in study plans

Academic yearProgrammeField of studySpec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2022/2023 (N0719A270010) Robotics (S03) Service Robotics P English Ostrava 1 Compulsory study plan
2022/2023 (N0719A270010) Robotics (S02) Mechanical Design of Robotic Systems P English Ostrava 1 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

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