Mechanisms and Multibody Systems MECH3422 (formerly 630.319)

No lecture on Fridays 16, 23 October !!!!!!! Please work on Lynn’s project

Lynn Kirkham’s part of the course on cam design project is here: http://school.mech.uwa.edu.au/~lok/MMS.LOK/

 

Prof Karol Miller

(Room E2.78, Tel 6488 8545, E-mail: kmiller@mech.uwa.edu.au)

Past Exam Papers

 

FINAL YEAR PROJECTS FOR 2010

see also Intelligent Systems for Medicine Lab

This unit is core for Mechatronics Engineering and Mechanical Engineering

There will be four lab exercises:

1.     Synthesis of planar mechanisms (Lego Lab) – Lego Lab manual is here

2.     Mobility and Trajectories – NUWAR. NUWAR lab manual is here (some useful Matlab programs are available here, good link to primer in Matlab programming: http://www.mathworks.com/moler/chapters.html)

3.     ABB Industrial Robot – ABB Robot lab manual is here

4.     Gyroscopes – lab manual is here: GYROlabManual-2007-KM

 

Lectures and tutes planned for 2009

(lectures are recorded, see Lectopia https://lectopia.uwa.edu.au/lectopia/lectopia.lasso?ut=1434 or link from WEB CT)

Tutorial steams:

Stream1 (Dr Xiaolin Wang): Monday 12 pm; Thursday 2 pm
Stream2 (Dr Xiaolin Wang): Monday 1pm; Friday 10 am
Stream3 (Mr Lynn Kirkham): Monday 3 pm; Thursday 10 am
Stream4 (Mr Lynn Kirkham): Tuesday 2 pm; Thursday 1 pm
Stream5 (Dr Dianne Hesterman): Tuesday 11 am; Wednesday 1 pm
Stream6 (Dr Adam Wittek): Tuesday 3 pm; Wednesday 12 pm

Assignments:

My expectations regarding the submission of your assignments

Assignment 1  Mobility of a blue “cherry picker” (field work, 10% of the total mark)

   Marking guidelines

Assignment 2 -> Cam design project with Lynn Kirkham -> 15% of the total mark. Details later

 

Learning Objectives of the Unit:

On completion of the Mechanisms and Multibody Systems you should be able to:

  • understand and use (if desirable) a gyroscopic effect in a number of industrial applications;
  • analyse geometry, kinematics of planar and spatial mechanisms, including robotic manipulators;
  • derive dynamic equations for multibody systems in a systematic way, and use them to solve the direct and inverse problem of dynamics;
  • understand, how industrial robots are controlled;
  • use mathematical software (Mathematica, Matlab) to efficiently solve problems in mechanism analysis.

Generic Attributes:

  • An ability to apply knowledge of basic science and engineering fundamentals
  • An ability to communicate effectively, both in written form and orally
  • An ability to undertake problem identification, formulation and solution
  • An expectation of the need to undertake lifelong learning, and capacity to do so
  • An ability to adapt acquired knowledge to new situations
  • An ability to think and reason logically and creatively
  • An ability to utilise and synthesise knowledge from different disciplines

The specific knowledge outcomes of the unit are related to the following topics:

Knowledge:

  • Mobility of mechanisms
  • Four-bar linkage
  • Slider-crank linkage and its inversions
  • Automotive steering mechanisms
  • Geneva mechanisms
  • Cam-follower systems
  • Gyroscopes
  • Introduction to robotics

Unit contents (to be flexibly modified during the course):

1. Gyroscopes (and some 3D dynamics)

  • gyrocompass, rate gyroscopes, gyroscopic crushers

2. Mechanics of mechanisms

  • geometry
  • kinematics (2D)
  • velocity and acceleration analysis
  • Jacobian
  • synthesis of planar mechanisms for various applications
  • 4-bar mechanism
  • special mechanisms: Geneva mechanism, steering mechanism, straight line mechanisms, load supporting linkages, cranes, cams, etc.

3. Introduction to industrial robot control

  • linear control
  • trajectories

 

Assessment of Mechanisms and Multibody Systems MECH3422

To pass the unit you MUST pass (i.e. obtain 50%+) the exam

Summary

 Type

 % of final mark

 Time due

 Mobility assignment (field work)

 10

 To be advised

 Cam design project

 15

 To be advised

 ABB Lab report

 8

 To be advised

 NUWAR Lab report

 4

 To be advised

 Gyroscopes Lab report

 6

 To be advised

 Lago Lab report

 4

 To be advised

 Examination (open book)

 53

 At examination

Some activities during the semester may attract bonus marks.

Students can demonstrate achievement in each of the specified attributes in a variety of ways, as follows:

Examination:

You MUST pass exam to pass the unit!

The examination will give students the opportunity to demonstrate their abilities to independently formulate a solution to a problem. As the examination is open to books and notes, the purpose is not to test memory, but instead to test the student's ability to seek the information required to solve a problem and to apply to the information appropriately.

Laboratories:

The laboratory sessions provide students with the chance to test some of the information given to them in lectures and to extend that information. Team work is encouraged. A single report from a group is required. Assessment will be based on the report, conduct and contribution to the team work. A significant part of the mark will be awarded for report writing skills.

Assignments:

Challenging problems are selected for assignments. Assessment is based on a written report, which must be clear, concise and informative, and must have an executive summary (word number limits apply).


Penalties

15% of the mark for the submission one day late. 4% per each additional working day.

Text: "Kinematics, dynamics, and design of machinery" K. J. Waldron, G. L. Kinzel, Wiley, 1999, or newer edition

 Recommended reading

1."Fundamentals of Applied Dynamics", J.H. Williams, Jr., Wiley, 1996

2. "Introduction to Robotics, Mechanics and Control", J.J. Craig, Adisson-Wesley, 1989

3. Mechanism design : analysis and synthesis / Arthur G. Erdman, George N. Sandor, Published Englewood Cliffs, N.J : Prentice-Hall, c1984, LOCATION UPSL Reserve, CALL NO.  621.815 1984 MEC V. 1 

4. Theory of machines and mechanisms / Joseph Edward Shigley, John Joseph Uicker, Jr, Published New York : McGraw-Hill, c1995 LOCATION UPSL Reserve, CALL NO. 621.8 1995 THE 

 

Unit marks may be scaled in line with the Faculty's  Policy on Assessment Practices and Procedures 

            (see http://www.ecm.uwa.edu.au/for/students/assess)

            No supplementary examinations will be available for the unit

            University Guidelines on Academic Misconduct  are here: http://www.ecm.uwa.edu.au/for/students/plagiarism

            Faculty Policy for Appeals is here: http://www.ecm.uwa.edu.au/for/students/exams

            Charter of Student Rights is here: http://www.secretariat.uwa.edu.au/home/policies/charter

 

Copyright The University of Western Australia 2004. Webmaster: Karol Miller. Last modified on 20-July-2009

http://www.mech.uwa.edu.au/unit/MECH3422/