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| MECA0031-2 | Kinematics and Dynamics of Mechanisms
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| Duration : | 30h Th, 30h Pr |
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| Credits/ECTS : |
| civil engineering in electromechanics, 3rd year | | Premier quadrimestre | | 5 |
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| civil engineering in physics, 3rd year | | Premier quadrimestre | | 6 |
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| Master in Aerospatial Engineering, in-depth approach, 1st year | | Premier quadrimestre | | 5 |
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| Master in Mechanical Engineering, in-depth approach, 1st year | | Premier quadrimestre | | 5 |
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| Master in Aerospace Engineering, Professional Focus (Management), 1st year | | Premier quadrimestre | | 5 |
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| Master in Mechanical Engineering, specialized approach, 1st year | | Premier quadrimestre | | 5 |
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| Holder(s) : | Olivier Bruls |
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| Language : | Langue française |
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| Course contents : | In this course, the student will get familiar with engineering techniques that are used for the design of articulated systems, with applications in the fields of automotive design (power train, suspension), airplane design (flaps, landing gears), space technologies (deployable structures) and wind turbines.
- Introduction : historical remarks, fields of application, topology of a mechanism, degrees of freedom, generalized coordinates
- Kinematics: the rigid body (finite rotations, computation of positions velocities and accelerations), multibody systems, formulation using relative coordinates (Denavit-Hartenberg method, recursive computation, application to robotics), formulation using absolute coordinates (rigid links, joints)
- Dynamics: d'Alembert and Hamilton principles, rigid-body dynamics, recursive Newton-Euler method for open-chain systems, treatment of kinematic constraints (constraint elimination technique, Lagrange multiplier method), finite element method for multibody systems
- Flexible systems: discrete elastic systems, nonlinear finite element method (strain measures, spatial discretization, bar element, beam element), super-element technique (corotational formulation, modal reduction)
- Numerical methods: time integration algorithms for ordinary differential equations and differential-algebraic equations
- Introduction to the dynamics of mechatronic systems: coupled modelling of a mechanism and its control system (sensors, actuators, controllers)
- Application to problems from automotive design, aeronautics and space technology.
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| Course objective : |
- Basic theoretical concepts in multibody system dynamics
- Understanding analysis and simulation methods that are used for the simulation of multibody systems
- Utilization of a simulation software in order to solve practical engineering problems
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| Prerequisites : |
- Linear algebra
- Numerical methods
- Classical mechanics
- Solid mechanics
- MATLAB programming
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| Workshops : | Exercises sessions. Sessions on computer (introduction to SAMCEF/MECANO, see www.samcef.com). Practical work by groups of two students (use of MATLAB and SAMCEF/MECANO software). |
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| Organization : | The course includes
- 12 lectures (2h)
- 7 exercise sessions (2h)
- 2 laboratory sessions for an introduction to the SAMCEF/MECANO software (2h)
- 1 homework to be prepared in groups of two students using MATLAB and SAMCEF/MECANO. Two sessions will be organized for the follow-up (2h).
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| Written notes : |
- Slides : PDF files are available on WebCT
- Reference book: M. Géradin, A. Cardona, Flexible Multibody Dynamics - A Finite Element Approach, John Wiley & Sons, Chichester, 2001. See also on Wiley web site: http://eu.wiley.com/WileyCDA/WileyTitle/productCd-0471489905,subjectCd-ME40.html
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| Assessment : | Three elements are considered for the evaluation
- the theory exam (written, 25%)
- the exercise exam (written, 25%)
- the practical work (report and oral defense, 50%)
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| Contacts : | Olivier Brüls: o.bruls@ulg.ac.be |
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| Remarks : | For the practical works, students are invited to get MATLAB and SAMCEF Student software. More precise information will be given during the year. |
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