• Inženjerska grafika i mehatronika, Semester 2, position 2

Acquiring knowledge and mastering the basic skills of analysis and synthesis of mechanisms. Study of structural, kinematic, and dynamic analysis of mechanisms, on the basis of which the analysis and synthesis of planar and spatial mechanisms are carried out. Familiarity with various software packages used in the field of mechanism analysis and synthesis. Application of theoretical knowledge acquired in the subjects Mechanics 2 (Kinematics) and Mechanics 3 (Dynamics).

The student has mastered the theoretical foundations for a complete structural, kinematic, and dynamic analysis of mechanisms. By using these basics and solving problems of analysis (calculated and using software tools), the student is able to determine the elements necessary for the synthesis of mechanisms. Then, using different methodologies, and mathematical and software tools, the student is able to perform a synthesis of planar and spatial mechanisms. Also, on a concrete example, within the assigned project, the student masters the skill of independently creating a specific mechanism. According to the studied course, students are trained to perform analysis, modeling, synthesis, and generation of mechanisms in various software packages.

Structural analysis of mechanisms: definition and classification; kinematic connections, members and organs; kinematic pairs and chains; kinematic models and kinematic schemes of mechanisms, degrees of freedom of kinematic chains; kinematic transformation, conversion, and inversion; analog mechanisms. Kinematic analysis of mechanisms: graphical and analytical methods of analysis of position, speed, acceleration, and characteristic points of the lever, curve-sliding, cam, mechanisms with intermittent movement and mechanisms for achieving a high transmission ratio, spatial mechanisms with closed kinematic chains of the type RSSR, RRSC, RCCC, RRSS; kinematics analysis of spatial movement and displacement, relative speed and acceleration in space; application of modern software tools for the analysis of the mentioned types of mechanisms. Dynamic analysis of mechanisms: kinesthetics, inertial force and moment, pressure angle, determination of driving force and moment, method of equivalent masses. Fundaments of the synthesis of planar mechanisms: methods of structural and dimensional synthesis of planar mechanisms (lever, curve-sliding, cam, mechanisms with intermittent movement, and mechanisms for realizing a large transmission ratio); tasks of kinematic synthesis of mechanisms; synthesis of the mechanism by changing the function, position, and path; Basics of kinematic synthesis of spatial mechanisms: synthesis of spatial mechanisms of the type RSSR, RRSC, RCCC, and RRSS by adjusting the function, position, and path; defining the most current methods of mechanism synthesis; selection of the optimal mechanism synthesis method.

Structural analysis of mechanisms: the creation of schematic representations, creation of calculation tasks, creation of models of mechanisms in the SolidWorks crank, curve-sliding, cam, mechanisms with intermittent movement, mechanisms for realizing a large transmission ratio, spatial mechanisms with closed kinematic chains of type RSSR, RRSC, RCCC, RRSS according to predetermined geometric parameters. Kinematic analysis of mechanisms: the creation of calculation tasks according to learned graphic and analytical methods, using models created in SolidWorks (in the field of structural analysis of mechanisms), perform kinematic analysis; using SolidWorks and Adams to perform kinematic analysis of selected types of mechanisms; perform a comparison of the results obtained by calculation and computer analyses. Dynamic analysis of mechanisms: setting the task of dynamic analysis of lever and cam mechanisms and solving them using kinesthetic methods, dynamic modeling methods, setting parameters in SolidWorks and Adams for setting dynamic analysis problems, and performing the analysis itself. Basics of the synthesis of planar mechanisms: use of the MatLab/Simulink for generating parameters for the synthesis of planar mechanisms (writing synthesis codes by generating function, position, and path); synthesis of mechanisms based on given parameters and obtaining realistic models in the SolidWorks. Creation of a laboratory model (based on the model from SolidWorks) and commissioning in the laboratory for Hydraulic and pneumatic mechanisms and installations. Creation of a laboratory model using a 3D printer in the Engineering Graphics laboratory (based on the model from SolidWorks) and checking the completed synthesis on the physical model. Basics of kinematic synthesis of spatial mechanisms: generation of a specific type of spatial mechanism in SolidWorks using parametric path synthesis in MatLab. Creation of a 3D model of the mechanisms with all their elements.

Desirable Practicum in the basics of construction

S. M. Mata, A. B. Torras, J. A. Cabrera Crrillo, F. E. Junaco, A. J. Guerra Fernandez, F. N. Martinez, A. O. Fernandez: Fundaments of Machine Theory and Mechanism K.H. Hunt: Kinematic Geometry of Mechanisms

Total assigned hours: 75

New material: 25
Elaboration and examples (recapitulation): 5

Auditory exercises: 30
Laboratory exercises: 0
Calculation tasks: 0
Seminar paper: 0
Project: 0
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 1
Review and grading of lab reports: 1
Review and grading of seminar papers: 0
Review and grading of the project: 4
Test: 4
Test: 0
Final exam: 5

Activity during lectures: 5
Test/test: 30
Laboratory practice: 5
Calculation tasks: 5
Seminar paper: 10
Project: 10
Final exam: 35
Requirement for taking the exam (required number of points): 50

S. M. Mata, A. B. Torras, J. A. Cabrera Crrillo, F. E. Junaco, A. J. Guerra Fernandez, F. N. Martinez, A. O. Fernandez: Fundaments of Machine Theory and Mechanism, Springer, 2016.; K.H. Hunt: Kinematic Geometry of Mechanisms, Oxford University Press, 1990.; Н. Павловић, М. Милошевић: Полужни механизми, Универзитет у Нишу - Машински факултет, 2012; Ж. Живковић: Теорија механизама и машина, Машински факултет, Ниш 1992.