Subject description
Lagrangian dynamics of simple rigid-body systems; inverse dynamics and forward dynamics of linkage mechanisms; balancing of mechanisms; robot dynamics including position analysis, Jacobian analysis, and dynamic analysis of serial and parallel manipulators; numerical solutions and computer simulation of multibody dynamics.
Enrolment rules
Pre-Requisite
Tutorial enrolment
Students can enrol online via the Tutorial Enrolment link in SOLS
Delivery
To view information specific to your campus, click on Select availability in the top right of screen and choose from the campus, delivery mode and session options.
Engagement hours
Contact Hours:2 hrs lecture and 2 hrs practical/computer lab/tutorial per week
Learning outcomes
On successful completion of this subject, students will be able to:
1.
Understand the fundamental principles of Lagrangian method, Newtonian method, and energy method for multibody dynamics.
2.
Select and apply appropriate techniques for the kinematic and dynamic analysis and force balancing of multibody systems, e.g., linkage mechanisms and industrial robots.
3.
Simulate the dynamic behaviour of multibody systems, such as linkage mechanisms and industrial robots, using computer programming and simulators.
4.
Demonstrate effective verbal and written communication skills.
Assessment details
Quizzes
Project Report
Final exam
Work integrated learning
Embedded WIL:This subject contains elements of "Embedded WIL". Students in this subject will experience activities that relate to or simulate professional practice as part of their learning.
Textbook information
This subject has no specific major textbook, but the following list is meant for subject readings:
Harrison, H. and Nettleton, T., 1997, Advanced Engineering Dynamics, Elsevier Science & Technology.
Gans, R. F., 2013, Engineering Dynamics: From the Lagrangian to Simulation, Springer, New York.
Goldstein, H, Poole, C. P., and Safko, J. L., 2002, Classical Mechanics, 3rd ed., Addison Wesley, San Francisco.
Craig, J. J., 2014, Introduction to Robotics: Mechanics and Control, 3rd ed., Pearson, Harlow, Essex.
Niku, S. B., 2019, Introduction to Robotics: Analysis, Control, Applications, 3rd ed., Wiley, Hoboken.
Tsai, L.-W., 1999, Robot Analysis : The Mechanics of Serial and Parallel Manipulators, Wiley, New York.
Stanisic, M. M., 2014, Mechanisms and Machines: Kinematics, Dynamics, and Synthesis, Cengage Learning.
Waldron, K. J., Kinzel, G. L., and Agrawal, S. K., 2017, Kinematics, Dynamics, and Design of Machinery, 3rd ed., Wiley, Chichester, West Sussex, England.
Uicker, J. J., Sheth, P. N., and Ravani, B., 2013, Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems, Cambridge University Press, Cambridge.
Norton, R. L., 2011, Design of Machinery: An Introduction to the Synthesis and Analysis of Mechanisms and Machines, 5th ed., edition., McGraw-Hill, New York.