Lecturer(s)


Beran Jaroslav, prof. Ing. CSc.

Bílek Martin, doc. Ing. Ph.D.

Kovář Šimon, Ing. Ph.D.

Course content

Lectures: 1. Goal and content of the subject, current state of the branch developments in the world. Basic concepts of construction of kinematic chains. Lower and higher kinematic pairs. Degree of freedom of kinematic pair. 2. Creation of kinematic chains. Classification of kinematic chains. Free chains, kinematic chains connected with the forced move. GrüblerCebysev´s bonding dependence. Structural analysis and optimization of mechanisms. 3. Assur´s system groups. Space kinematic chains. Degree of freedom of the space kinematic chains. Spherical mechanisms. 4. Trajectory of mechanism points. Equation of general point trajectory of pitman of mechanism with four joints and cranked mechanism. Double points, critical points and selfcontact, their design and geometric places (kD  curve). Roberts´ theorem. 5. Locomotive transformation. Concept of transformation angle between two parts of mechanism. Courses and optimization of transformation angle in mechanism with four joints and cranked mechanism 6. Geometric accuracy of mechanisms. Analytical solutions. Concept of sensitivity function. Kinematic and power method of the solution of the geometric accuracy. Concept of spare mechanism. 7. Two prescribed positions of formation. Design of fourjoint and slottedlink mechanism for two final positions of the formation. Three prescribed positions of formation. Concept of pole triangle and its properties. Design of approximate straightline motion by graphical and analytical methods. 8. Two, three and four assigned positions of balance beam of mechanism, reduction method, analytical solution. Four prescribed positions of the formation. Concept of pole curve and mcurve and their analytical expression. Design of mechanism for four prescribed positions of mechanism. 9. Kinematic analysis of bonded mechanical systems with lower kinematic pairs, algorithms of solutions, matrix method of the solution of given task. Geometric and kinematic optimization of mechanical systems. 10. Dynamic solution of mechanical systems with flexible components and clearances in kinematic pairs. Preparation of mathematic models and question of their damping. Dynamic optimization of actual mechanism. 11. Dynamic behaviour of machine frames. Their toughness and minimization of vibrations. Frame bedding on the foundation and transmission of reactions into the foundation. Mathematic models of machine frames and their solutions. 12. Cam mechanisms. Stroke dependences of the cam mechanism jacks and their optimization. Calculation of cam shape for shifting jack and balance beam. Transformation of polar coordinates of the cam outline and its equidistants. 13. Force ratios on the cam, transformation angle. Balancing of mechanical systems. Static balancing of fourjoint and cranktype mechanisms. 14. Special mechanisms. Maltese mechanisms with internal and external engagement. Impact Maltese mechanisms. Kinematics of Maltese mechanisms. Radial and catch mechanisms. Nonrounded discs with parallel axes. Elliptic nonrounded wheels, eccentric circular wheel. Calculation of axial distance. Seminar content: Seminar content is selected in such way that it fills in and extend the lectured subject matters. It contains mainly the individual solutions of practical exercises, mainly numeric ones. The program contains also one broader theme that will be processed by the students as seminar work.

Learning activities and teaching methods

Monological explanation (lecture, presentation,briefing)
 Class attendance
 56 hours per semester
 Home preparation for classes
 12 hours per semester

Learning outcomes

Methods of complex design of mechanisms and machine subsystems, structural, type and geometrical optimizations of mechanisms. Planar and spatial kinematic chains. Geometrical precision of the position of mechanism member, trajectory analysis, the transmission angle. Graphical, analytical and computer methods of mechanism synthesis. Synthesis of cam and special mechanism, Design of cam function motion, cam design. Mechanisms modeling in MSC.ADAMS software.
Student will get knowledge from this subject.

Prerequisites

Unspecified

Assessment methods and criteria

Oral exam, Written exam
Participation on seminars. Semestral work.

Recommended literature


ASHOK G. AMBEKAR. Mechanism and Machine Theory. 2013. ISBN 9788120331341.

BRÁT, V.:. Maticové metody v analýze a syntéze prostorových vázaných mechanických systémů. Praha, ACADEMIA 1981..

Charvát, J. Mechanika II  Teorie mechanismů. Skripta VŠST, Liberec 1980. &, &.

JULIŠ, K.  BREPTA, R. Mechanika I. Díl. Praha, SNTL 1986..

KOLOC. Z.  VÁCLAVÍK, M. Vačkové mechanismy. Praha, SNTL 1988..

LUCK, K.  MODLER, H. Getriebetechnik  Analyse, Synthese, Optimierung. Berlin, Akademie Verlag, 1990.

Robert L. Norton. Design of Machinery. 2006.

R.V. DUKKIPATI, J.S. RAO. Mechanism and Machine Theory. 2006. ISBN 812240426X.
