Mechanisms and Multibody Systems MECH3422 (formerly 630.319)

Due to safety concerns resulting from venue overcrowding the tutorials on Tuesdays 12.00 and Fridays 9.00, conducted by Dr Hesterman, will now be limited to 30 students. Sign-up sheet is available on my door (room 2.78). Dr Hesterman will not allow students who have not signed their names on the list to attend her tutorials.

Prof Karol Miller

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

Past Exam Papers

FINAL YEAR PROJECTS FOR 2008

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 2008

(lectures are recorded https://lectopia.uwa.edu.au/lectopia/lectopia.lasso?ut=1434 )

Tutorial steams:

Stream 1 = Mon 15.00, Wednesday 11.00, Dr Xiaolin Wang
Stream 2 = Tue 15.00, Fri 10.00, Dr Adam Wittek
Stream 3 = Tue 12.00, Friday 9.00, Dr Dianne Hesterman
Stream 4 = Mon 12.00, Wednesday 9.00, Mr Lynn Kirkham
Stream 5 = Mon 13.00, Thursday 13.00, Dr Xiaolin Wang

Assignments:

My expectations regarding the submission of your assignments

Assignment 1 Mobility – how does the draw bridge in Hillarys Boat Harbour work (field work, 10% of the total mark)?

Marking guidelines

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

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:

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 17-July-2008

http://www.mech.uwa.edu.au/courses/MMS319/