Techniques for dealing with multiple coordinate systems and complex kinematics. The geometric ideas and the computer algebra (Maple is used) needed for such problems are introduced. Dyads and rotations. Kane's equations. The rigid body and its inertia dyad. Redundant variables and non-holonomic systems. Analysis of constraint forces. Kane’s method is interpreted in terms of the geometry of the configuration manifold for such systems. Techniques of symbolic manipulations are introduced for deriving equations of motion using Kane's method. Emphasis is on problems that occur in modern practice and that require multiple coordinate systems for their formulation.
SG2151 Modern Multibody Dynamics 8.0 credits
This course has been discontinued.
Decision to discontinue this course:
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Information per course offering
Course offerings are missing for current or upcoming semesters.
Course syllabus as PDF
Please note: all information from the Course syllabus is available on this page in an accessible format.
Course syllabus SG2151 (Autumn 2022–)Headings with content from the Course syllabus SG2151 (Autumn 2022–) are denoted with an asterisk ( )
Content and learning outcomes
Course contents
Intended learning outcomes
After the course the students should have the techniques needed to deal with modeling mechanical systems, such as robots, vehicles, space satellites and other multibody systems. The student will also be made aware of the requirements of carrying out and presenting numerical solutions of such problems.
Literature and preparations
Specific prerequisites
English B / English 6
SG1130, SG1140 or SG1113; preferably SG2150.
Literature
You can find information about course literature either in the course memo for the course offering or in the course room in Canvas.
Examination and completion
Grading scale
A, B, C, D, E, FX, F
Examination
- TEN1 - Examination, 8.0 credits, grading scale: A, B, C, D, E, FX, F
Based on recommendation from KTH’s coordinator for disabilities, the examiner will decide how to adapt an examination for students with documented disability.
The examiner may apply another examination format when re-examining individual students.
If the course is discontinued, students may request to be examined during the following two academic years.
Other requirements for final grade
Project work.
Examiner
No information inserted
Ethical approach
- All members of a group are responsible for the group's work.
- In any assessment, every student shall honestly disclose any help received and sources used.
- In an oral assessment, every student shall be able to present and answer questions about the entire assignment and solution.
Further information
Course room in Canvas
Registered students find further information about the implementation of the course in the course room in Canvas. A link to the course room can be found under the tab Studies in the Personal menu at the start of the course.
Offered by
Education cycle
Second cycle