| Subject name (in Hungarian, in English) | Dynamics of robotic mechanisms | |||
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Dynamics of robot mechanisms
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| Neptun code | BMEGEMMBMRO | |||
| Type | study unit with contact hours | |||
| Course types and number of hours (weekly / semester) | course type: | lecture (theory) | exercise | laboratory excercise |
| number of hours (weekly): | 2 | 2 | 0 | |
| nature (connected / stand-alone): | - | coupled | - | |
| Type of assessments (quality evaluation) | mid-term grade | |||
| ECTS | 5 | |||
| Subject coordinator | name: | Dr. Szabó Zsolt | ||
| post: | associate professor | |||
| contact: | szazs@mm.bme.hu | |||
| Host organization | Department of Applied Mechanics | |||
| http://www.mm.bme.hu | ||||
| Course homepage | http://www.mm.bme.hu/targyak/?BMEGEMMBMRO | |||
| Course language | english, hungarian | |||
| Primary curriculum type | mandatory | |||
| Direct prerequisites | Strong prerequisite | BMEGEMMBXM4, BMETE94BG04 | ||
| Weak prerequisite | ||||
| Parallel prerequisite | ||||
| Milestone prerequisite | at least obtained 0 ECTS | |||
| Excluding condition | BMEGEMMBGRO | |||
Aim
One of the main aims of the course is to acquaint students with the methods and numerical simulation tools used for the structural, kinematic and dynamic analysis of mechanisms and robots, i.e. computer-controlled multibody dynamical systems in general. Another main goal of the course is to acquaint students with the vibration problems associated with the digital control of robots, which cannot be handled based on our physical and engineering sense. Digital controllers can generate low-frequency, sometimes chaotic, self-excited vibrations, the avoidance of which, in turn, usually degrades the positioning accuracy of robots. The course aims to understand these vibrational phenomena, to make them physically understandable, and to avoid them, they provide simple methods for design, new closed-form relationships. The aim is for students to be able to apply these relationships to multibody dynamic structures as well.
Learning outcomes
Competences that can be acquired by completing the course
Knowledge
Systematizes the commonly used conceptual framework of robotic mechanisms; It systematizes the concepts of kinematic chains and methods for the structural study of kinematic chains; It systematizes the methods of kinematic investigation of planar mechanisms, the concepts of direct and inverse kinematics; Knows the analytical methods for determining the force balance of mechanisms; Knows the analogy between control members and mechanical elements; He is aware of the tasks and problems of position regulation, force regulation, balancing; It includes the concepts of positioning error, force error, critical sampling time; Systematizes possible ways to reduce positioning and force error; Understands the concepts of state feedback, direct and inverse dynamics and the differences between them; Understands the importance of sampling time and delay in regulatory processes.
Ability
Able to describe the simple control tasks of robots with abstract mechanical models; It uses selected mathematical models for qualitative analysis; Prepares the structural analysis of a mechanism, the determination of its degrees of freedom, the exploration of contradictory constraints; Apply your knowledge to the kinematic and dynamic analysis of a mechanism; Designs the structural structure and geometric dimensions of a purpose-built mechanism; Calculates the time course of the forces and torques loading the structural elements of the mechanism, which is the starting point for the sizing of the drive motors and the sizing of the strength of the robot; Calculates stability criteria for continuous and discrete dynamical systems; Able to plot stability criteria for system parameters on diagrams; Able to identify stability problems related to simpler time delays, to explore, formulate and (using learned practical application) the theoretical and practical background needed to solve them; Use your IT knowledge to apply the stability test of computer algebra.
Attitude
By collaborating, it supports its faculty and fellow students in expanding their knowledge; It expands your knowledge by constantly asking questions and gaining knowledge; Open to the use of information technology tools in solving engineering problems; It seeks to learn about and routinely use the system of tools needed to mechanically solve robotic controls; It strives for accurate and error-free problem solving in all areas of engineering activity; It seeks to enforce the principles of energy efficiency and environmental awareness, which also strongly characterize the field of robotics.
Independence and responsibility
Independently thinks through and solves tasks and problems related to the geometric and mechanical modeling of robots based on specific sources; He openly accepts well-founded critical remarks from his colleagues; It defends its position if it can be substantiated by scientific means; Constructive criticism concerns the work of fellow students and later colleagues; In some situations, as part of a team, you work with your fellow students to solve tasks; He supports a systems approach in his thinking about engineering problems;
Teaching methodology
The course consists of two hours of theoretical and two hours of practical course per week. The understanding of the theoretical materials presented in the lecture is aided by the examples presented in the exercises. During the lecture, the most important parts of the material are conducted on a board in order for the joint work to help the students understand the curriculum. The videos and examples projected on the theoretical courses further help to master the curriculum. The materials used in the lectures and exercises can be downloaded by the students. During the semester, students can check the acquisition of knowledge through the solution of two compulsory homework tasks, for which we provide regular consultations.
Support materials
Textbook
Guckenheimer, J., Holmes, P., Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields. Springer, New York, 1989, ISBN 0-387-90819-6. 2021.
Stépán, G., Retarded Dynamical Systems. Longman, Essex, 1989, ISBN 0-582-03932-0. 2021.
Sandor GN, Erdman, AG: Advanced Mechanism Design: Analysis and Synthesis, 1984, ISBN 0-130-11437-5. 2021.
Lecture notes
Online material
Validity of the course description
| Start of validity: | 2021. August 1. |
| End of validity: | 2026. June 30. |
General rules
Learning outcomes are assessed on the basis of a mid-year written performance measurement (summary study performance assessment) and two homework assignments (partial performance assessment). Summarizing academic performance evaluation: a complex, written way of evaluating the knowledge and ability type competence elements of the subject in the form of an indoor dissertation, the dissertation focuses on the application of the acquired knowledge, so it focuses on problem recognition and solution. Partial performance evaluation: a complex way of evaluating the knowledge, ability, attitude, as well as independence and responsibility type competence elements of the subject, the form of which is the individual homework.
Assessment methods
Detailed description of mid-term assessments
| Mid-term assessment No. 1 | ||
| Type: | summative assessment | |
| Number: | 1 | |
| Purpose, description: | The complex, written way of evaluating the competence-type competence elements of the subject and knowledge in the form of a closed-ended dissertation, the dissertation basically focuses on the application of the acquired knowledge, so it focuses on problem recognition and solution, -during the performance evaluation, the part of the curriculum on which the evaluation is based is determined by the lecturer of the subject in agreement with the supervisors, the available working time is 90 minutes; | |
| Mid-term assessment No. 2 | ||
| Type: | formative assessment, simple | |
| Number: | 2 | |
| Purpose, description: | The complex way of evaluating the knowledge, ability, attitude, as well as independence and responsibility type competence elements of the subject, the form of which is the individual or group homework, the content, requirements and deadline of the homework are determined by the supervisor, the homework tries to cover also topics, the acquisition of the acquisition of which is not possible in the case of a summary study assessment (in-house dissertation) due to time constraints and the necessity of computer use; | |
Detailed description of assessments performed during the examination period
The subject does not include assessment during the examination period.
The weight of mid-term assessments in signing or in final grading
| ID | Proportion |
|---|---|
| Mid-term assessment No. 1 | 80 % |
| Mid-term assessment No. 2 | 20 % |
The weight of partial exams in grade
There is no exam belongs to the subject.
Determination of the grade
| Grade | ECTS | The grade expressed in percents |
|---|---|---|
| very good (5) | Excellent [A] | above 90 % |
| very good (5) | Very Good [B] | 85 % - 90 % |
| good (4) | Good [C] | 70 % - 85 % |
| satisfactory (3) | Satisfactory [D] | 55 % - 70 % |
| sufficient (2) | Pass [E] | 50 % - 55 % |
| insufficient (1) | Fail [F] | below 50 % |
The lower limit specified for each grade already belongs to that grade.
Attendance and participation requirements
Must be present at at least 70% (rounded down) of lectures.
At least 70% the exercises (rounded down) must be actively attended.
Special rules for improving, retaken and replacement
The special rules for improving, retaken and replacement shall be interpreted and applied in conjunction with the general rules of the CoS (TVSZ).
| Need mid-term assessment to invidually complete? | ||
| yes | ||
| Can the submitted and accepted partial performance assessments be resubmitted until the end of the replacement period in order to achieve better results? | ||
| NO | ||
| The way of retaking or improving a summary assessment for the first time: | ||
| each summative assessment can be retaken or improved | ||
| Is the retaking-improving of a summary assessment allowed, and if so, than which form: | ||
| retake or grade-improving exam not possible | ||
| Taking into account the previous result in case of improvement, retaken-improvement: | ||
| new result overrides previous result | ||
| The way of retaking or improving a partial assessment for the first time: | ||
| partial assesment(s) in this group can be improved or repeated once up to the end of the repeat period | ||
Study work required to complete the course
| Activity | hours / semester |
|---|---|
| participation in contact classes | 56 |
| mid-term preparation for practices | 14 |
| preparation for summary assessments | 16 |
| elaboration of a partial assessment task | 8 |
| additional time required to complete the subject | 56 |
| altogether | 150 |
Validity of subject requirements
| Start of validity: | 2021. August 1. |
| End of validity: | 2026. June 30. |
Primary course
The primary (main) course of the subject in which it is advertised and to which the competencies are related:
Mechanical engineering
Link to the purpose and (special) compensations of the Regulation KKK
This course aims to improve the following competencies defined in the Regulation KKK:
Knowledge
- Student is familiar with the general and specific mathematical, scientific and social principles, rules, contexts and procedures needed to operate in the field of engineering.
Ability
- Student has the ability to apply the general and specific mathematical, scientific and social principles, rules, relationships and procedures acquired in solving problems in the field of engineering.
Attitude
- Student is open and receptive to learning, embracing and authentically communicating professional, technological development and innovation in engineering.
Independence and responsibility
- Student shares her acquired knowledge and experience through formal, non-formal and informal information transfer with those in her field.
Prerequisites for completing the course
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Knowledge type competencies
(a set of prior knowledge, the existence of which is not obligatory, but greatly facilitates the successful completion of the subject) |
none |
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Ability type competencies
(a set of prior abilities and skills, the existence of which is not obligatory, but greatly contributes to the successful completion of the subject) |
none |