 | Study programme 2021-2022 | Français | |
| Application of Multibody System Simulation to Active Mechanical Systems | |||
Learning Activity |
| Code | Lecturer(s) | Associate Lecturer(s) | Subsitute Lecturer(s) et other(s) | Establishment |
|---|---|---|---|---|
| I-MRDV-063 |
|
|
|
| Language of instruction | Language of assessment | HT(*) | HTPE(*) | HTPS(*) | HR(*) | HD(*) | Term |
|---|---|---|---|---|---|---|---|
| Anglais | Anglais | 12 | 12 | 0 | 0 | 0 | Q2 |
Content of Learning Activity
Behavioral equations of some usual actuators: DC motor, voice coil, piezoelectric material and hydraulic jack.
Coupling between the mechanical system and the actuators.
Time-domain model of linear controllers and equations of the controlled system.
Introduction to robotics.
Multiphysics formulations (Electro-mechanical Lagrangian, Modelica,...)
Workshops: simulation of systems (EasyDyn, Matlab/Octave, Simulink).
Required Learning Resources/Tools
Not applicable
Recommended Learning Resources/Tools
Not applicable
Other Recommended Reading
Mechatronic Systems - Fundamentals, R. Isermann, Springer-Verlag, London (UK), 2005 (2nd edition)
Mechatronics - Dynamics of Electromechanical and Piezoelectric Systems, A. Preumont, Springer-Verlag, Dordrecht (NL), 2006
Robotics - Modelling, Planning & Control, B. Siciliano et al, Springer-Verlag, London (UK), 2009
Mechatronics - A Foundation Course, C.W. de Silva, CRC Press, Boca Raton (USA), 2010
Robotics, Vision and Control, P. Corke, Springer-Verlag, Berlin (Germany), 2013 (2nd edition)
Dynamics of Mechanical and Electromechanical Systems, S.H. Crandall et al, MedTech, 2017
Mécatronique, L. Birglen, Dunod, Malakoff (FR), 2018 (2nd edition)
Mode of delivery
- Face to face
Type of Teaching Activity/Activities
- Cours magistraux
- Travaux pratiques
Evaluations
The assessment methods of the Learning Activity (AA) are specified in the course description of the corresponding Educational Component (UE)