机器人学 Introduction

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

Fundamentals of Robotics

----Kinematics and Dynamics

(30 Lectures)

Course Lecturer: Professor Tian Huang

Office: 10-311 Phone: 27401009

Email:

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

INTRODUCTION 1

1.1 Aims and Objectives (WHY?)

One of the striking characteristics of the present day machines is the tendency towards lightweight yet high stiffness, high speed and high precision. To achieve these goals requires ever increasing applications of the principles of dynamics. These principles are fundamentals to analysis and design of structures, robots, vehicles, airplanes, rockets and spacecraft, machinery of all types, such as turbines, pumps, reciprocating engines, machines tools, etc. In short, dynamics is one of sciences underlying the design of all vehicles of machines.

If an engineer (Mechanical, Civil, Aerospace, etc) is

to build a lightweight yet stiff machine tool for high-speed cutting

to build a building that enables to resist against the random load caused by bad circumstances(earthquake, wind, etc). to control a robot for high-speed manipulation

to design the suspension of a vehicle to improve the passenger's comfort and even to control a satellite to keep it running in orbit

then he/she must be well equipped with sufficient knowledge in dynamics.

The basic principles of dynamics are quite few and were well developed hundred years ago, the Newton's three Laws of Motion for example. However, solution to a dynamic problem is by no means an easy task. It relies upon: (1) Thorough understanding of these principles

(2) The skills and expertise gained through dealing with a wide variety of situations.

Dynamics of Mechanical Systems is designed with an emphasis on developing the students' reasoning and analytical capabilities that will enable them to understand, describe, formulate and solve the dynamic problems of mechanical systems.

As engineering students, you will find that a thorough comprehension of dynamics will be one of the most useful and powerful tools for analysis in engineering.

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

1.2 Main Topics in Dynamics

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

A 3-DOF Parallel Kinematic Machine for High Speed Milling

Platform

AC servo motor

Spindle

Universal joints

Carriage

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

1.3 Main Content of This Course (WHAT?)

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

1.4 The Key Issues in Studying Dynamics (HOW?)

Proper Hypothesis and Approximation

You should understand that the mathematical formulation of an engineering problem represents an ideal and limiting description. A model approximates but never quite matches the actual physical situation. In the course of constructing the idealized mathematical model for any given engineering problem, certain approximations will always be made.

Reasoning from Fundamentals

One of the greatest difficulties you may encounter in studying dynamics would most probably be that you do not know how to link the basic principles of dynamics you were taught with the specific problem you face to. My advice to handle this problem is that whenever you encounter a problem you can not solve, simply go back to the place where it is fundamental but essential. Many problems which at first may seem difficult and complicated become clear and straightforward once they are begun with a logical reasoning and proper method.

Importance of Exercises

The skills and expertise to solve a dynamic problem must be gained through exposure to practice. Never expect to solve a problem by simply memorizing the kinematic and dynamic equations or formulae. Therefore, the exercises are absolutely necessary besides the lecture attendance.

Good Habits

The development of good habits in formulating problems and in representing their solutions will prove to be invaluable assets. Each solution should proceed with a logical sequence of steps from hypothesis to conclusion, and its representation should included a clear statement of the following parts, each clearly identified.

1. Understanding of the given data and results expected 2. Necessary diagrams

3. Formulation and calculation 4. Answers and conclusions

In addition, the reasonableness of numerical magnitudes should be observed, and accuracy and dimensional homogeneity of terms should be checked frequently. It is also important the arrangement of work be neat and orderly. Unreadable solutions are of little or no value.

天津大学 机械学院 黄田 教授《机器人学》讲义,经典之作!版权请与黄田教授联系

1.5 Course Objectives and Assessment

Course Objectives

1. Identify and apply an appropriate coordinate system for the modeling of a mechanical system

2. Perform velocity and acceleration analysis on 2D and 3D mechanical systems (mechanism, etc) using graphical and analytical methods.

3. Use Newtonian or Lagrangian Mechanics to formulate the dynamic equations of motion of mechanical systems (mechanisms, engines, gyros,

linear vibration system).

Prerequisites

1. Knowledge of linear algebra, the rules of vector and matrix operations in particular is required 2. Fundamentals of mechanics based upon the previous courses (Engineering Mechanics)

Text Books

A plenty of text books on dynamics are available, but none of them can cover the complete con …… 此处隐藏：4770字，全部文档内容请下载后查看。喜欢就下载吧 ……