Multi Body Dynamics and Robotics, 6 credits

Flerkroppsmekanik och robotik, 6 hp

TMMS30

Main field of study

Mechanical Engineering

Course level

Second cycle

Course type

Programme course

Examiner

Peter Christensen

Director of studies or equivalent

Peter Schmidt

Education components

Preliminary scheduled hours: 56 h
Recommended self-study hours: 104 h

Available for exchange students

Yes
ECV = Elective / Compulsory / Voluntary
Course offered for Semester Period Timetable module Language Campus ECV
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYI Applied Physics and Electrical Engineering - International, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYY Applied Physics and Electrical Engineering, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CYYY Applied Physics and Electrical Engineering, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CMMM Mechanical Engineering, M Sc in Engineering 8 (Spring 2017) 1 3 English Linköping, Valla E
6CMMM Mechanical Engineering, M Sc in Engineering (Engineering Mechanics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6CMMM Mechanical Engineering, M Sc in Engineering (Mechatronics) 8 (Spring 2017) 1 3 English Linköping, Valla E
6MMEC Mechanical Engineering, Master's programme 2 (Spring 2017) 1 3 English Linköping, Valla E

Main field of study

Mechanical Engineering

Course level

Second cycle

Advancement level

A1X

Course 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

UPG3Assignments6 creditsU, 3, 4, 5

Grades

Four-grade scale, LiU, U, 3, 4, 5

Department

Institutionen för ekonomisk och industriell utveckling

Director of Studies or equivalent

Peter Schmidt

Examiner

Peter Christensen

Course website and other links

Education components

Preliminary scheduled hours: 56 h
Recommended 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. 

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)
X

                            
1.2 Fundamental engineering knowledge (G1X level)
X

                            
1.3 Further knowledge, methods, and tools in one or several subjects in engineering or natural science (G2X level)
X

                            
1.4 Advanced knowledge, methods, and tools in one or several subjects in engineering or natural sciences (A1X level)

                            
1.5 Insight into current research and development work

                            
2. PERSONAL AND PROFESSIONAL SKILLS AND ATTRIBUTES
2.1 Analytical reasoning and problem solving

                            
2.2 Experimentation, investigation, and knowledge discovery

                            
2.3 System thinking

                            
2.4 Attitudes, thought, and learning

                            
2.5 Ethics, equity, and other responsibilities

                            
3. INTERPERSONAL SKILLS: TEAMWORK AND COMMUNICATION
3.1 Teamwork
X

                            
3.2 Communications
X

                            
3.3 Communication in foreign languages

                            
4. CONCEIVING, DESIGNING, IMPLEMENTING AND OPERATING SYSTEMS IN THE ENTERPRISE, SOCIETAL AND ENVIRONMENTAL CONTEXT
4.1 External, societal, and environmental context

                            
4.2 Enterprise and business context

                            
4.3 Conceiving, system engineering and management

                            
4.4 Designing

                            
4.5 Implementing

                            
4.6 Operating

                            
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

                            
5.2 Economic conditions for knowledge development

                            
5.3 Identification of needs, structuring and planning of research or development projects

                            
5.4 Execution of research or development projects

                            
5.5 Presentation and evaluation of research or development projects

                            

This tab contains public material from the course room in Lisam. The information published here is not legally binding, such material can be found under the other tabs on this page.

There are no files available for this course.