SDU Education Information System
   Home   |  Login Türkçe  | English   
 
   
 
 


 
Course Information
Course Unit Title : Flexible multi-body dynamics
Course Unit Code : 01MAK6143
Type of Course Unit : Optional
Level of Course Unit : Second Cycle
Year of Study : Preb
Semester : 255.Semester
Number of ECTS Credits Allocated : 6,00
Name of Lecturer(s) : ---
Course Assistants : ---
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
Mode of Delivery : Face-To-Face
Prerequisities and Co-requisities Courses : Unavailable
Recommended Optional Programme Components : Unavailable
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.
Languages of Instruction : Turkish
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.
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.
WorkPlacement   Not available
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)
ECTS / Table Of Workload (Number of ECTS credits allocated)
Student workload surveys utilized to determine ECTS credits.
Activity :
Number Duration Total  
Course Duration (Excluding Exam Week) :
14 3 42  
Time Of Studying Out Of Class :
14 4 56  
Homeworks :
0 0 0  
Presentation :
0 0 0  
Project :
1 30 30  
Lab Study :
0 0 0  
Field Study :
0 0 0  
Visas :
1 26 26  
Finals :
1 26 26  
Workload Hour (30) :
30  
Total Work Charge / Hour :
0  
Course's ECTS Credit :
0      
Assessment Methods and Criteria
Studies During Halfterm :
Number Co-Effient
Visa :
1 50
Quiz :
0 0
Homework :
0 0
Attendance :
0 0
Application :
0 0
Lab :
0 0
Project :
1 50
Workshop :
0 0
Seminary :
0 0
Field study :
0 0
   
TOTAL :
100
The ratio of the term to success :
50
The ratio of final to success :
50
TOTAL :
100
Weekly Detailed Course Content
Week Topics  
1 Introduction and course description
 
2 Energy methods for finding dynamic equations
 
3 Energy methods for finding dynamic equations
 
4 Axes frames and coordinate transformations
 
5 Axes frames and coordinate transformations
 
6 Rigid multibody systems
 
7 Rigid multibody systems
 
8 Rigid multibody systems
 
9 Flexible multibody systems ? Assumed modes methods
 
10 Flexible multibody systems ? Assumed modes methods
 
11 Flexible multibody systems ? Assumed modes methods
 
12 Flexible multibody systems ? Finite Element Methods
 
13 Flexible multibody systems ? Finite Element Methods
 
14 Flexible multibody systems ? Finite Element Methods
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0
 
0