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Multi Body Dynamics and Robotics, 6 credits
Flerkroppsmekanik och robotik, 6 hp
TMMS30
Main field of study
Mechanical EngineeringCourse level
Second cycleCourse type
Programme courseExaminer
Peter ChristensenDirector of studies or equivalent
Peter SchmidtEducation components
Preliminary scheduled hours: 56 hRecommended self-study hours: 104 h
Available for exchange students
YesECV = Elective / Compulsory / Voluntary
Main field of study
Mechanical EngineeringCourse level
Second cycleAdvancement level
A1XCourse offered for
- Mechanical Engineering, M Sc in Engineering
- Applied Physics and Electrical Engineering, M Sc in Engineering
- Mechanical Engineering, Master's programme
- Applied Physics and Electrical Engineering - International, M Sc in Engineering
Entry requirements
Note: Admission requirements for non-programme students usually also include admission requirements for the programme and threshold requirements for progression within the programme, or corresponding.
Prerequisites
Basic courses in calculus, algebra and mechanics.Intended learning outcomes
The course aims at giving the student knowledge of computer-aided methods for mechanical analysis of multibody systems, with robot arms as an important special case. After the course the should be able to:
- Model mechanisms using generalized, relative, absolute and natural coordinates.
- Perform kinematic and kinetic analyses of mechanisms.
- Implement smaller parts of solution algorithms in MATLAB.
Course content
Kinematics: Overview of different types of coordinates, kinematical constraints, analysis of position, velocity and acceleration. Kinetics: Euler's method. Robotics: Serial robots, the Denavit-Hartenberg notation, kinematic analysis.
Teaching and working methods
Teaching is in the form of lectures, classes and computer exercises.
Examination
| UPG3 | Assignments | 6 credits | U, 3, 4, 5 |
Grades
Four-grade scale, LiU, U, 3, 4, 5Department
Institutionen för ekonomisk och industriell utvecklingDirector of Studies or equivalent
Peter SchmidtExaminer
Peter ChristensenCourse website and other links
Education components
Preliminary scheduled hours: 56 hRecommended self-study hours: 104 h
Course literature
P. Christensen, Computational rigid body mechanics| Code | Name | Scope | Grading scale |
|---|---|---|---|
| UPG3 | Assignments | 6 credits | U, 3, 4, 5 |
Regulations (apply to LiU in its entirety)
The university is a government agency whose operations are regulated by legislation and ordinances, which include the Higher Education Act and the Higher Education Ordinance. In addition to legislation and ordinances, operations are subject to several policy documents. The Linköping University rule book collects currently valid decisions of a regulatory nature taken by the university board, the vice-chancellor and faculty/department boards.
LiU’s rule book for education at first-cycle and second-cycle levels is available at http://styrdokument.liu.se/Regelsamling/Innehall/Utbildning_pa_grund-_och_avancerad_niva.
Course literature is preliminary.
P. Christensen, Computational rigid body mechanics
Note: The course matrix might contain more information in Swedish.
I = Introduce, U = Teach, A = Utilize
| I | U | A | Modules | Comment | ||
|---|---|---|---|---|---|---|
| 1. DISCIPLINARY KNOWLEDGE AND REASONING | ||||||
| 1.1 Knowledge of underlying mathematics and science (G1X level) |
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X
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| 1.2 Fundamental engineering knowledge (G1X level) |
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X
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| 1.3 Further knowledge, methods, and tools in one or several subjects in engineering or natural science (G2X level) |
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X
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| 1.4 Advanced knowledge, methods, and tools in one or several subjects in engineering or natural sciences (A1X level) |
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| 1.5 Insight into current research and development work |
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| 2. PERSONAL AND PROFESSIONAL SKILLS AND ATTRIBUTES | ||||||
| 2.1 Analytical reasoning and problem solving |
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| 2.2 Experimentation, investigation, and knowledge discovery |
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| 2.3 System thinking |
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| 2.4 Attitudes, thought, and learning |
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| 2.5 Ethics, equity, and other responsibilities |
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| 3. INTERPERSONAL SKILLS: TEAMWORK AND COMMUNICATION | ||||||
| 3.1 Teamwork |
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X
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| 3.2 Communications |
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X
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| 3.3 Communication in foreign languages |
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| 4. CONCEIVING, DESIGNING, IMPLEMENTING AND OPERATING SYSTEMS IN THE ENTERPRISE, SOCIETAL AND ENVIRONMENTAL CONTEXT | ||||||
| 4.1 External, societal, and environmental context |
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| 4.2 Enterprise and business context |
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| 4.3 Conceiving, system engineering and management |
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| 4.4 Designing |
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| 4.5 Implementing |
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| 4.6 Operating |
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| 5. PLANNING, EXECUTION AND PRESENTATION OF RESEARCH DEVELOPMENT PROJECTS WITH RESPECT TO SCIENTIFIC AND SOCIETAL NEEDS AND REQUIREMENTS | ||||||
| 5.1 Societal conditions, including economic, social, and ecological aspects of sustainable development for knowledge development |
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| 5.2 Economic conditions for knowledge development |
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| 5.3 Identification of needs, structuring and planning of research or development projects |
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| 5.4 Execution of research or development projects |
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| 5.5 Presentation and evaluation of research or development projects |
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