Lecturer: Giovanni Mimmi  

Course name: Meccanica applicata alle macchine
Course code: 500548
Degree course: Ingegneria Meccatronica
Disciplinary field of science: ING-IND/13
University credits: CFU 12
Course website: n.d.

Specific course objectives

The aim of the course is to give the students a clear understanding of the forces acting on mechanical systems, and the resulting movements; the minimum knowledge necessary for understanding the functioning of the major mechanical systems; the elements for modeling and analyzing the basic functioning of machines.

Course programme

Description of a machine and of a mechanical system. Constituent structure, functional scheme. The physical and mathematical model. Study of movement in relation to the forces acting

Kinematics of machines and mechanisms. Motion of a point and of rigid body machines. Theorems of Coriolis and Rivals. Instantaneous center of rotation and polar motion. Closed kinematic chains: kinematic pairs, articulated mechanisms motion analysis with the use of complex numbers: crank mechanisms, four bar linkages, mobile glyph mechanisms, Geneva wheels. Open kinematic chains: spatial mechanisms and manipulators.

Machine dynamics and mechanisms. Forces acting in the machines. Contact forces. Stick-slip phenomenon. Rolling friction. Wear. Relative actions exchanged between solids and fluids. Study of the dynamic equilibrium and balance of power. Power dissipation and performance. Diagrams of typical engines and users. Transmissions, direct and retrograde motion. Periodic regime, periodic irregularities. Balancing of rotors and alternative machines.

Mechanical vibration

• Free Vibrations: Systems at 1 degree of freedom: free motion without damping; 2 degrees of freedom vibrating systems: free motion without damping; Multiple degrees of freedom systems: overview.
• Forced Vibrations: Systems without damping; Amplitude of oscillation in resonance; Vibrations with damping; Periodic excitation force: development in series of Fourier; harmonic components; Torsional vibrations; Bending vibrations.

Component bodies of machines: the main families of organs of machines are described, classifying them according to morphology, operating characteristics and design considerations and choice: bearings, cams, friction wheels, gears, planetary gears, belt drive and pulley; Couplings, Clutches, Brakes.

Topics mechanical robots: Getting Started on robots: general definitions of the robot, industrial robots. Basic configuration of a robot. Representation of position and orientation: reference systems. Rotation matrices. Kinematics of manipulators. Dynamics of manipulators. Dynamic model of the manipulator. Laws of motion and trajectory planning. Mechanical components and sensors of robotic systems.

Course entry requirements

Basics courses in Mathematical Analysis, Geometry, Physics

Course structure and teaching

Lectures (hours/year in lecture theatre): 83
Practical class (hours/year in lecture theatre): 14
Practicals / Workshops (hours/year in lecture theatre): 0

Suggested reading materials

Mimmi G., Pennacchi P.. Appunti di meccanica applicata alle macchine. ed. CUSL, Collana Scientifica, Ottobre ‘98.

Mimmi G.. Esercitazioni svolte e temi d'esame di Meccanica Applicata alle Macchine. ed. CUSL, Collana Scientifica, Marzo ‘99.

Altri testi consultabili.

Giacosa D. Motori endotermici. (possibile la consultazione: testo disponibile in biblioteca d'Ingegneria) . HOEPLI.

Magnani PL, Ruggieri G. Meccanismi per macchine automatiche. Edit. UTET.

Testing and exams

Two written tests will be conducted, which will focus respectively on the first and second part of the course. For those who have passed both tests, the final exam consist of an interview. Those who have not sustained both ongoing trials will sit a written exam, which will focus on topics discussed during the course in order to be admitted to the final interview.