• Poljoprivredno prehrambeno mašinstvo, Semester 2, position 2

mastering the knowledge of design and construction of all types of mechanisms, with special emphasis on cam and Maltese mechanisms; acquiring the ability to analyze them within the machines and devices used in the food industry; getting acquainted with the types and manner of operation of manipulators, as well as with the possibilities of their construction with simpler functions; introduction and analysis of manipulative processes in the food industry.

The student has mastered the procedures for the construction of mechanisms that are mostly used in machines and devices of the food industry, as well as for connecting the work of individual machines in production lines. The student is acquainted with the principles of operation of various software packages (which will deal with modeling and analysis of mechanisms and manipulators) and give him the opportunity to easily master some other packages for modeling and generating the movement of mechanisms in practice.

A brief review of kinematic pairs and plane mechanisms; equivalent mechanisms. Cam mechanisms; cam plate: translational and rotating; translational and rotating lifters: with rounding, roller or disc; law of motion, velocity, acceleration, force; synthesis of cam plates. Maltese mechanisms; gear and toothed mechanisms; law of motion, velocity, acceleration, force; synthesis mechanism. Spatial mechanisms; structure of mechanisms; closed and open kinematic chains; mechanisms with a number of independent drives. Manipulators with 5-class kinematic pairs; spatial three-membered kinematic chains with independent drives; manipulators of the type: TTT, TRT, TRR, RRT and RRR and service space. Creating a part of the program for optimal synthesis of mechanisms in MATLAB for special path shapes of plane mechanisms. Synthesis of spatial manipulator drives; creating the specified types of manipulators in the SolidWorks software package; defining the desired law of movement of the workpiece: 1-expressions, 2-series of oriented positions; reading the law of changes of internal coordinates of the manipulator; defining the manipulator drive. Development of Motion Analysis and display of manipulators.

Equivalent mechanisms; replacing the higher kinematic pair with a kinematic chain with lower kinematic pairs. Camshaft construction; diagram construction: times, velocities and accelerations; using programs in ACAD to synthesize cam mechanisms. Construction of the Maltese mechanism; choice of Maltese mechanism; diagrams: movements, velocities and accelerations; defining the parameters of the toothed wheel and the grasshopper. Construction of a mechanism with a characteristic trajectory; synthesis of the mechanism in MATLAB and construction in the SolidWorks software package for a given shape of the working part of the path. Construction of manipulators TTT, TRT, ... in SolidWorks software package; defining independent plants; determination of forces in kinematic pairs; defining driving forces and moments. Construction of manipulators TTT, TRT, ... according to the given law of movement of the workpiece (function or through oriented positions). Development of a specific project of replacing a manipulative action in the post-food process with an action performed by a specific manipulator.

A desirable condition is passing the course Designing Mechanisms

Script: Design of mechanisms and manipulators in the food industry; author: Dr. Jeli Zorana, Boris Kosić; Necessary additional materials (handouts, task settings, seminar papers, etc.) are provided on web pages or reproduced on paper. Larger electronic materials can be made available to students in direct contact. Classes are realized by combining video display and blackboard.

Total assigned hours: 75

New material: 20
Elaboration and examples (recapitulation): 10

Auditory exercises: 2
Laboratory exercises: 10
Calculation tasks: 0
Seminar paper: 0
Project: 13
Consultations: 0
Discussion/workshop: 5
Research study work: 0

Review and grading of calculation tasks: 0
Review and grading of lab reports: 0
Review and grading of seminar papers: 0
Review and grading of the project: 6
Test: 4
Test: 0
Final exam: 5

Activity during lectures: 5
Test/test: 30
Laboratory practice: 0
Calculation tasks: 0
Seminar paper: 0
Project: 30
Final exam: 35
Requirement for taking the exam (required number of points): 40

Kinematic Geometry of Mechanisms, Hunt K.H, Oxford, 1978; Б. Илић: Механизми 1, Машиски факултет Београд, 1965.; Б. Илић: Механизми 2, Машиски факултет Београд, 1966.; Б. Илић: Механизми 3, Машиски факултет Београд, 1968.