Introductory description

ES480 -15 Dynamics Analysis of Mechanical Systems

Module web page

Module aims

Outline syllabus

This is an indicative module outline only to give an indication of the sort of topics that may be covered. Actual sessions held may differ.

1. Introduction
   a. Importance of classical mechanics in 3D formulation
   Main topic in dynamics
   b. Main contents of the module
   c. Key issues in studying dynamics
   d. Course objectives and assignment
2. Mathematic background
   a. Vector and matrix operations
   b. Coordinate transformation
3. Kinematics of 2/3D systems
   Topology structure of mechanical systems
   a. Mobility analysis of mechanical systems
   b. Vector presentation of kinematics of a single body in 2/3D space
   c. Moving coordinate system
   d. Application to kinematic analysis of rigid body systems, e.g. planar/spatial linkages and robotic mechanisms
4. Kinetics of 2/3D systems
5. Newtonian method
   a. Vector presentation of force and moment equations of a rigid body in 2/3D (Newton-Euler equations)
   b. Application to kinetostatic analysis of planar linkages as a special topic
   c. Formulation of general equations of motion of rigid body systems in moving coordinate system, e.g. planar/spatial linkages and robotic mechanisms
6. Work-Energy method
   a. Virtual work principle
   b. Application to dynamic analysis of planar/spatial linkage and robotic mechanisms
7. Gyroscopic motions
   a. Explanation to procession phenomena
   b. Formulation of Euler’s Equation
   c. Steady state procession
   d. Application to satellite and gyro compass, etc.

Learning outcomes

By the end of the module, students should be able to:

• Autonomously evaluate mobility characteristics of 3D mechanical systems.
• Perform advanced kinematic analysis on spatial mechanisms and robots using vector and matrix representations.
• Evaluate complex mechanisms sensitivity to design parameters, and interpret usability.
• Apply a systematic approach to the approximations of complex engineering problems to enable efficient analysis with acceptable predictive accuracy and so apply a practical treatment to engineering uncertainty.
• Use either Newtonian method or virtual work principle to evaluate the motions produces by driving forces, or the reaction forces and driving forces necessary to generate specific motions of 3D mechanical systems, e.g, robotic mechanisms.
• Predict forces and motions of important special cases of general motion such as gyroscopes.

Indicative reading list

• Design of Machinery: an Introduction to the Synthesis and Analysis of Mechanisms and Machines, Norton, RL, 5th edition (McGraw Hill 2012).
• Shigley, J.E. Uicker, J.J. Theory of machines and mechanisms, McGraw-Hill Education, 2016.
• J.R. Meriam and L.G. Kraige, Engineering Mechanics, Dynamics (7th Edition), Wiley, 2006.
• Grosjean, J., Kinematics and Dynamics of Mechanisms, McGraw Hill 1991.
• AShabana, A. A., Computational Dynamics, 2nd Ed., Wiley 2001 .

Subject specific skills

1. Ability to conceive, make and realise a component, product, system or process;
2. Ability to develop economically viable and ethically sound sustainable solutions;
3. Ability to be pragmatic, taking a systematic approach and the logical and practical steps necessary for, often complex, concepts to become reality;
4. Ability to seek to achieve sustainable solutions to problems and have strategies for being creative and innovative;
5. Ability to be risk, cost and value-conscious, and aware of their ethical, social, cultural, environmental, health and safety, and wider professional engineering responsibilities;

Transferable skills

1. Numeracy: apply mathematical and computational methods to communicate parameters, model and optimize solutions;
2. Apply problem solving skills, information retrieval, and the effective use of general IT facilities;
3. Communicate (written and oral; to technical and non-technical audiences) and work with others;
4. Plan self-learning and improve performance, as the foundation for lifelong learning/CPD;
5. Exercise initiative and personal responsibility, including time management, which may be as a team member or leader;
6. Awareness of the nature of business and enterprise in the creation of economic and social value;
7. Overcome difficulties by employing skills, knowledge and understanding in a flexible manner;
8. Ability to formulate and operate within appropriate codes of conduct, when faced with an ethical issue;
9. Appreciation of the global dimensions of engineering, commerce and communication;
10. Be professional in their outlook, be capable of team working, be effective communicators, and be able to exercise responsibility and sound management approaches.