| Course Unit Code | 354-0609/01 |
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| Number of ECTS Credits Allocated | 3 ECTS credits |
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| Type of Course Unit * | Compulsory |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | First Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | There are no prerequisites or co-requisites for this course unit |
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| Name of Lecturer(s) | Personal ID | Name |
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| BOB0001 | prof. Ing. Zdenko Bobovský, PhD. |
| VYS0016 | doc. Ing. Aleš Vysocký, Ph.D. |
| SUD0014 | Ing. Jiří Suder, Ph.D. |
| Summary |
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| In this course, students will be introduced to methods of calculating kinematic quantities for solving direct and inverse problems of kinematics, dynamic quantities - reactions and loading forces for the purpose of dimensioning mechanisms in motion, modeling and simulation of motion of mechanisms and determining collisions of mechanism components. |
| Learning Outcomes of the Course Unit |
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| In this course, students will be introduced to methods of calculating kinematic quantities for solving direct and inverse problems of kinematics, dynamic quantities - reactions and loading forces for the purpose of dimensioning mechanisms in motion, modeling and simulation of motion of mechanisms and determining collisions of mechanism components. |
| Course Contents |
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1. Introduction to the product for calculation
2. Creation of mechanisms, types of links of cells, definition of mechanism bodies, setting of units, use of user coordinate systems, assignment of body material, determination of mass parameters.
3. Creation of constraints, types of constraints - kinematic pairs of various types (joints, joints), calculation of degrees of freedom, redundancy, setting of initial position and velocity conditions, basic constraints - fixed connection (weld, Weld), rotational kinematic couple (Pin) , translation kinematic pair (Slider)
4. Extended types of constraints - Cylindrical, Spherical (Ball), Bearing, Planar binding.
5. Extended types of links - loose (6DOF), general.
6. Creation of external load, load by force, moment, introduction of gravity.
7. Creation of drives, types of drives, setting and displaying the course of position, speed and acceleration of drives.
8. Internal variables (measures), predefined internal variables, computed internal variables, use of internal variables and their display.
9. Creating contact areas, defining material, defining material damping, editing contact areas.
10. Use of cams, definition of cam-thumb pair, definition of internal variables for cams.
11. Tooth gears, creation of a pair of gears, types of gearing, use of toothed belts.
12. Types of built-in analyzes, motion analysis, setting of analysis parameters, setting of initial analysis conditions, displaying results of motion analysis.
13. Animation of mechanism movement
14. Investigation of interferences of individual mechanism bodies. |
| Recommended or Required Reading |
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| Required Reading: |
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| Zhao, J. Advanced theory of constraint and motion analysis for robot mechanisms. Place of publication not identified: ELSEVIER ACADEMIC Press. 2017, ISBN 9780124201620 |
Mostýn, V. Modelování a analýza konstrukcí robotů II. 1.vyd. Ostrava: skripta VŠB TUO, 2002. 111 stran; ISBN 80-248-0022-5
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| Recommended Reading: |
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| Chang, K.-H. Mechanism Design and Analysis Using PTC Creo Mechanism 6.0, SDC Publications, 2015, ISBN 9781585039463 |
| Zhao, J. Advanced theory of constraint and motion analysis for robot mechanisms. Place of publication not identified: ELSEVIER ACADEMIC Press. 2017, ISBN 9780124201620 |
| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Graded credit | Graded credit | 100 | 51 |