The course aims to provide students with analytical and extended tools to understand and study the functionality of mechanical mechanisms (especially for machines). Additionally, the students will understand the principles of operation of the mechanical components employed in the mechanisms. In addition, the student will come to understand the operating principles of the mechanical components employed in the realization of the mechanisms. D1 - Knowledge and understanding At the end of the course, the student should know the basic principles of operation of mechanisms and their components. D2 - Applying knowledge and understanding The student should be able to perform a complete kinematic and dynamic analysis of a planar mechanism and make a choice on the most used mechanical components. D3 – Making judgements The student should evaluate, choosing among the various possibilities, how to derive the kinematic schema of mechanism from the operational drawings. D4 - Communication The student should describe the kinematic functionality of a machine (mechanism) clearly and using proper definitions. D5 - Lifelong Learning skills Students should be able to interpret and employ technical manuals to perform a selection of specific mechanical components.

Basic subjects are required: Analysis and Physics 1

Introduction to mechanisms Degrees of freedom Kinematics joints Grubler equation Ex. Pendolino; ex. Haptic interface Kinematics of mechanisms Kinematic sketch Vector chain Direct and inverse kinematic problems More than 2 kinematics vector chains Newton Raphson es. Solution by Newton Raphson Assur groups scomposition Solution of RRR Assur group Solution of RPR Assur group Solution of RPP Assur group Solution of PRP Assur group Solution of RRP Assur group Examples of Mechanisms Orthopedic prosthesis Bicycle suspension Malta's cross Block mechanism Velocity kinematic analysis Derivation of vector chain Jacobian Velocity ratio matrix Properties of the velocity ratio matrix Singularity configurations Velocity analysis of Assur groups Ex. Pentalateral robot Acceleration analysis Mechanisms synthesis Synthesis by function generation Synthesis by path Newton method (dynamic analysis) Equations Internal forces in prismatic and revolute joints Ex. Lifting mechanism Contact theory Rotor balancing Static rotor balancing Dynamic rotor balancing Free wheel synthesis Reduced inertia Speed oscillation Reduction of speed oscillation Crankshaft mechanism Forces of I° e II° Rotating masses 4 cylinders engine 6 cylinders engine Cams Introduction and classification Pressure angle Equivalent mechanisms Path planning with cubic and constant acceleration profiles Synthesis of radial cam with translating roller follower Pressure angle of radial cam with translating roller follower Synthesis of radial cam with flat faced translating follower Synthesis of radial cam with flat faced rotating follower Bearings Friction: causes and characterization Rolling friction Stick-slip Bearing classification Dynamic bearing verification Static bearing verification Time variable loads Bearing preload Screw/nut coupling Gears Involute gears Base circle Pressure angle Module Friction speed Tooth profiles Forces Helical gears Pitch helix Normal module Gear ratio Forces Engagement Bevel gears Gear ratio Tooth shape Forces Harmonic drive Gear train Ordinary gear train Epicyclic gear train Planetary speed reducer Differential gear Belts Classification of belts V-belt Power transmission

The lecture notes will be provided by the instructor at the beginning of the course and will be available on the Teams platform.

Introduction to mechanisms Degrees of freedom Kinematics joints Grubler equation Ex. Pendolino; ex. Haptic interface Kinematics of mechanisms Kinematic sketch Vector chain Direct and inverse kinematic problems More than 2 kinematics vector chains Newton Raphson es. Solution by Newton Raphson Assur groups scomposition Solution of RRR Assur group Solution of RPR Assur group Solution of RPP Assur group Solution of PRP Assur group Solution of RRP Assur group Examples of Mechanisms Orthopedic prosthesis Bicycle suspension Malta's cross Block mechanism Velocity kinematic analysis Derivation of vector chain Jacobian Velocity ratio matrix Properties of the velocity ratio matrix Singularity configurations Velocity analysis of Assur groups Ex. Pentalateral robot Acceleration analysis Mechanisms synthesis Synthesis by function generation Synthesis by path Newton method (dynamic analysis) Equations Internal forces in prismatic and revolute joints Ex. Lifting mechanism Contact theory Rotor balancing Static rotor balancing Dynamic rotor balancing Free wheel synthesis Reduced inertia Speed oscillation Reduction of speed oscillation Crankshaft mechanism Forces of I° e II° Rotating masses 4 cylinders engine 6 cylinders engine Cams Introduction and classification Pressure angle Equivalent mechanisms Path planning with cubic and constant acceleration profiles Synthesis of radial cam with translating roller follower Pressure angle of radial cam with translating roller follower Synthesis of radial cam with flat faced translating follower Synthesis of radial cam with flat faced rotating follower Bearings Friction: causes and characterization Rolling friction Stick-slip Bearing classification Dynamic bearing verification Static bearing verification Time variable loads Bearing preload Screw/nut coupling Gears Involute gears Base circle Pressure angle Module Friction speed Tooth profiles Forces Helical gears Pitch helix Normal module Gear ratio Forces Engagement Bevel gears Gear ratio Tooth shape Forces Harmonic drive Gear train Ordinary gear train Epicyclic gear train Planetary speed reducer Differential gear Belts Classification of belts V-belt Power transmission

Lectures. Classroom exercises with explanations of codes in Matlab.

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The exam is oral. It consists of 3/4 queries and it lasts about an hour. The queries will cover all the course program. The student will schematically write the mathematical formulas related to the queries on a sheet. During this process, the teacher will intervene to ask for clarification or discuss the most critical steps.

This course explores topics closely related to one or more of the United Nations 2030 Agenda for Sustainable Development goals.