TMMS30 · 6 credits · Advanced level (A1N) · Maskinteknik
Multi Body Dynamics and Robotics
Active · next start VT 2027
100%
passed the latest regular sitting
UPG3 · 19 Mar 2026 · 51 students
100%
passed the regular sittings, all sittings over the last 5 years
UPG3 · 236 students
Part of 5 programmes
Hand-in or lab
UPG3 Assignments
- 5
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Main rounds
100% passed · 236 students
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Later rounds
No sittings with at least 5 students.
- Get 4 or 5: 94% (236 students)
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About the course
Aim
The course aims at giving the student knowledge of computer-aided methods for mechanical analysis of multibody systems, with robot arms as an important special case. After the course the should be able to:
- Model mechanisms using generalized, relative, absolute and natural coordinates.
- Perform kinematic and kinetic analyses of mechanisms.
- Implement smaller parts of solution algorithms in MATLAB.
Content
Kinematics: Overview of different types of coordinates, kinematical constraints, analysis of position, velocity and acceleration. Kinetics: Euler's method. Robotics: Serial robots, the Denavit-Hartenberg notation, kinematic analysis.
- Examiner
- Peter Christensen
- Scheduled hours
- 56 h
- Main field of study
- Maskinteknik