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SDÜ Education Information System Course Content
Programme
Graduate School of Natural and Applied Sciences Mechanical Engineering
Course Information
Course Unit Code
Course Unit Title
Credit Theoretic
Credit Pratic
Credit Lab/A
Credit Total
Credit Ects
Semester
01MAK6143
Flexible multi-body dynamics
3.00
0.00
0.00
3.00
6.00
1
Course Information
Language of Instruction
Turkish
Type of Course Unit
Elective
Course Coordinator
Research Assistant Ergin KILIÇ
Course Instructors
3-Ergin Kılıç
Course Assistants
100-Özgür Başer
Course Aims
At the end of this course, the student will be able to obtain 3-D and 2-D equations of motion of rigid multibody systems, familiar with the deformation field and mode shapes of flexible bodies ? able to obtain 3-D and 2-D equations of motion of flexible multibody systems using assumed modes method, familiar with the finite element shape functions of flexible bodies, able to obtain 3-D and 2-D equations of motion of flexible multibody systems using using finite element method.
Course Goals
The main goal of this course is to introduce the students the basics of flexible multi-body systems to be used on robotics applications.
Learning Outcomes of The Course Unit
? Ability to write equations of motion of a single rigid body and a system of rigid bodies in planar motion
? Ability to write equations of motion of a single rigid body and a system of rigid bodies in spatial motion
? Ability to write the deformation field of a beam type body in terms of assumed modes
? Ability to write equations of motion of a single flexible body and a system of flexible bodies in planar motion using assumed modes method
? Ability to write equations of motion of a single flexible body and a system of flexible bodies in spatial motion using assumed modes method
? Ability to write finite element shape function matrix of a beam type body
? Ability to write equations of motion of a single flexible body and a system of flexible bodies in planar motion using finite element method
? Ability to write equations of motion of a single flexible body and a system of flexible bodies in spatial motion using finite element method
Course Contents
Mechanisms and robotic systems containing flexible links. Multibody kinematics using rigid body and deformation coordinates. Kane's equations. 3-D and 2-D equations of motion. Couplings between rigid body and deformation coordinates. Dynamic invariants of motion. Closed loop and prescribed motion constraints. Changing mode shapes.
Prerequisities and Co-requisities Courses
 
Recommended Optional Programme Components
 
Mode Of Delivery
 
Level of Course Unit
 
Assessment Methods and Criteria
ECTS / Table Of Workload (Number of ECTS credits allocated)
Studies During Halfterm
Number
Co-Efficient
Activity
Number
Duration
Total
Visa
1
50
Course Duration (Excluding Exam Week)
14
3
42
Quiz
0
0
Time Of Studying Out Of Class
14
4
56
Homework
0
0
Homeworks
0
0
0
Attendance
0
0
Presentation
0
0
0
Application
0
0
Project
1
30
30
Lab
0
0
Lab Study
0
0
0
Project
1
50
Field Study
0
0
0
Workshop
0
0
Visas
1
26
26
Seminary
0
0
Finals
1
26
26
Field study
0
0
Workload Hour (30)
30
TOTAL
100
Total Work Charge / Hour
 
The ratio of the term to success
50
Course's ECTS Credit
 
The ratio of final to success
50
 
TOTAL
100
 
Recommended or Required Reading
Textbook
1. Meirovitch, L., Elements of Vibration Analysis, 2nd Edition. McGraw-Hill, N.Y, 1986.
2. Ginsberg, J. H., Advanced Engineering Dynamics, Harper & Row, 1988.
Additional Resources
not available
Material Sharing
Documents
Lecture Notes
Assignments
not available
Exams
not available
Additional Material
not available
Planned Learning Activities and Teaching Methods
Lectures, Practical Courses, Presentation, Seminar, Project, Laboratory Applications (if necessary)
Work Placements
As with any other educational component, credits for work placements are only awarded when the learning outcomes have been achieved and assessed. If a work placement is part of organised mobility (such as Farabi and Erasmus), the Learning Agreement for the placement should indicate the number of credits to be awarded if the expected learning outcomes are achieved.
Program Learning Outcomes
No
Course's Contribution to Program
Contribution
Course Content