Note from June 29, 2020
Although we do not yet know how long the social distancing related to the Covid-19 pandemic will last, and regardless of the changes that had to be made in the evaluation of the June 2020 session in relation to what is provided for in this learning unit description, new learnig unit evaluation methods may still be adopted by the teachers; details of these methods have been - or will be - communicated to the students by the teachers, as soon as possible.
Although we do not yet know how long the social distancing related to the Covid-19 pandemic will last, and regardless of the changes that had to be made in the evaluation of the June 2020 session in relation to what is provided for in this learning unit description, new learnig unit evaluation methods may still be adopted by the teachers; details of these methods have been - or will be - communicated to the students by the teachers, as soon as possible.
5 credits
30.0 h + 30.0 h
Q2
Teacher(s)
Fisette Paul;
Language
English
Main themes
Definition and classification of multibody systems. Description of the various methods used by multibody softwares. Multibody formalisms for tree-like multobody systems (e.g. serial robot manipulators) and closed-loop systems (e.g. parallel manipulators, vehicles,...) : automatic computer generation of the dynamical eduations and numerical integration algorithms for differential-algebraic equations (DAE)
Aims
At the end of this learning unit, the student is able to : | |
| 1 |
In consideration of the reference table AA of the program "Masters degree in Mechanical Engineering", this course contributes to the development, to the acquisition and to the evaluation of the following experiences of learning:
Develop the sutdents capacities in designing, writing and/or using multibody modelling software for robots, vehicles, suspensions systems and other mechanisms, with a view to their geometrical, kinematical and dynamical analysis. |
The contribution of this Teaching Unit to the development and command of the skills and learning outcomes of the programme(s) can be accessed at the end of this sheet, in the section entitled “Programmes/courses offering this Teaching Unit”.
Content
- Definition and classification of multibody systems (NBS). Principal characteristics of the computer programs used in modelling and analyzing multibody systems.
- Multobody formalisms for tree-like systems (e.g. serial robots) or closed-loop mechanisms (e.g. vehicles) - definition of barycentric quantities - automatic generation of the dynamical equations using the Lagrange multipliers technique (use of the virtual power principle and Newton-Euler recursive algorithm).
- Coordinate partitioning method.
- Numerical analysis : equilibrium, modal analysis, time simulation, inverse dynamics.
- Particular applications : serial and parallel robots, road vehicles, railway vehicles, multibody systems with flexible elements.
Evaluation methods
Exam : oral examination. The exam consist of two parts: an examination on the theory (with lecture notes available) and a discussion about the project (theory, modelling and software implementaiton). support : lecture notes and copies of the slides used during the lectures.
Online resources
Bibliography
Référence de base :
- P. Fisette et J.C. Samin : Symbolic Modelling of Multibody Systems, à paraître chez Klawer Academic Press.
- Parviz E. Nikravesh, Computer-Aided Analysis of Mechanical Systems, Prentice Hall Inc., 1988.
- Haug, E.-J. : Computer Aided Kinematics and Dynamics of Mechanical Systems, Allyn and Bacon, Boston, 1989.
Faculty or entity
MECA
