Università Roma Tre

Introduction to mechanical systems for industrial, service, automotive, and automation applications.
Kinematics and dynamics of multibody systems in space, vehicle dynamics through modeling and dynamic simulation in SE(3). Dynamic simulation of MBS (multi-body systems): efficient methods for solving dynamic equations for constrained MBS.
Industrial robotics for automation and service robotics; elements of robot mechanics, spherical geared wrists. Elements of mechatronics: control of mechanical systems under dynamic conditions, autonomy, automation mechanisms, dwell systems, microcontrollers.
Compliant mechanisms: kinematic analysis and synthesis of selectively compliance mechanisms, kineto-static analysis, dynamic analysis. Isotropic compliance: synthesis of selective compliance in mechanisms and robots in E(3) and SE(3). Micro and nano MEMS and NEMS systems; navigation systems based on inertial sensors, wearable systems; MEMS and NEMS: design, simulation, fabrication, characterization, testing, and operational modes of micro/nano electro-mechanical systems.
Transmissions, epicyclic gearboxes, automatic transmissions, differentials, cam systems, couplings, Maltese cross mechanisms, and toggle joints. Design methods, classification according to Artobolewsky, functional classification: rigid body guidance, function generator, and trajectory generator. Topological Analysis and Synthesis of Mechanisms: graph-mechanism correspondence; enumeration of kinematic chains; isomorphism and planarity; automatic representation of kinematic chains and mechanisms. Kinematic analysis and synthesis of mechanisms for finite displacements: method based on displacement matrices, motions in the plane and in space, Freudenstein’s equation. Kinematic synthesis of mechanisms for infinitesimal displacements: classical Buermester theory, generalized Buermester theory, general methods of kinematic synthesis based on geometric invariants and first-order centrodes; kinematic analysis through kinematic invariants, affine four-bar linkages.
Functional design of automotive elements: automatic transmissions, epicyclic, differentials, suspensions and shock absorbers, steering mechanisms, couplings and clutches. Transmission and drive elements: transmission for parallel, intersecting, and skewed axes, articulated joints, principle of inertia match.
Computational intelligence: optimization algorithms for mechanisms, performance indices, pressure angle, mechanical advantage. Energy. Functional design of elements for the development of energy sources.
Ocean Engineering. Functional design of elements for the development of marine engineering systems.
Lubrication: elastohydrodynamic lubrication EHD.
Creativity in design: mechanism atlases, TRIZ and LT methods. Computational intelligence: optimization algorithms for mechanisms, neural networks, performance indices, pressure angle, mechanical advantage.

course handouts