Handling Engineering 2

I will focus on handling of deformable soft objects and manipulation by soft fingers. Starting from the modeling of deformable objects including particle-based modeling and finite element modeling, I will teach control and sensing issues in the deformable object manipulation. (Graduated course, M1)

4/11 Variational principle in statics

4/18 Variational principle in dynamics

4/25 Static modeling of continuous beam extension

5/ 2 Dynamic modeling of continuous beam extension

5/ 9 One-dimensional FEM in static modeling

5/16 One-dimensional FEM in dynamic modeling

5/23 FEM in 2D/3D deformation

5/30 FEM in 2D/3D deformation

6/ 6 Inelastic deformation

6/13 Inelastic deformation

6/20 Indirect simultaneous positioning

6/27 Indirect simultaneous positioning

7/ 4 Static modeling of linear objects

7/11 Dynamic modeling of linear objects

7/18 Knotting/unknotting of linear objects

Handouts

Variational Principles in Static and Dynamics
One-dimensional Extension of Beam
One-dimensional FEM
Two-dimensional FEM
Inelastic Deformation
Particle-based Modeling
Constranit Stabilization Method (CSM)
Modeling of Deformable Objects
Handling of Deformable Objects

Report (due date: July 31)

Evaluation
Examination. You will pass the examination when your score exceeds 60 points.

Textbook
No textbook is specified. Handouts are available.
Reference Books
Analytical Dynamics : A New Approach Robert E. Kalaba Cambridge University Press
Analytical Dynamics Haim Baruh McGraw-Hill Higher Education

[Education]