Course detail

Precise Mechanics I

FSI-TP1Acad. year: 2017/2018

The course “Precise Mechanics I” familiarizes students with solution of opened and closed kinematic chains used in equipments of precision mechanics using matrix methods. Special attention is paid to analysis of precision and sensibility of mechanisms. Lagrange equations of second type with multiplicators are used to solve equipment dynamics. MATLAB software is used to solve selected problems.

Learning outcomes of the course unit

The course enables students to acquire knowledge necessary for solving problems connected with movements within instruments and devices of precise mechanics with respect to kinematic and dynamic parameters of the system.


Equations of motion, matrices, functions, basic programming skills.


Not applicable.

Recommended optional programme components

Not applicable.

Recommended or required reading

Harna, Z.: Přesná mechanika., , 0 (CS)

Planned learning activities and teaching methods

The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.

Assesment methods and criteria linked to learning outcomes

1. Evaluation of student’s knowledge consists of the following parts:
Final exam ……… 0 to 70 points.
Active participation in the lessons ……… 0 to 30 points.
2. Student can obtain 100 points at the maximum.

Language of instruction


Work placements

Not applicable.


The aim of the subject is to familiarize students with the solution of mechanisms movements within instruments and devices of precise mechanics with an optimal use of computers.

Specification of controlled education, way of implementation and compensation for absences

Attendance at seminars is checked. Absence from lessons may be compensated for according to instructions of the teacher.

Classification of course in study plans

  • Programme M2A-P Master's

    branch M-FIN , 1. year of study, winter semester, 7 credits, compulsory-optional
    branch M-PMO , 1. year of study, winter semester, 7 credits, compulsory

Type of course unit



26 hours, optionally

Teacher / Lecturer


1. Theory of construction of precise mechanics equipments (PME).
2. Body movement recorded with the use of extended transformation matrices (ETM).
3. Movement as a superposition of concurrent movements.
4. Movement of micromanipulators and robots using ETM.
5. Vector method of determination of mechanism position.
6. Numerical solution of mechanism position using Newton’s iteration method and method of corrections.
7. Kinematics of distinctive equipments.
8. Precision and sensitivity of PME using error matrices.
9. Precision of distinctive equipments.
10.Dynamics of PME using Lagrange equations with multipliers.
11.Gyration moments and kinetic energy of system of bodies.
12.Dynamics of distinctive PME using Lagrange equations.
13.Numerical solution of equations of motion.

Computer-assisted exercise

26 hours, compulsory

Teacher / Lecturer


1. Spherical motion solved with the use of extended transformation matrices (ETM). Precession, nutation, rotation.
2. Coriolis acceleration expressed by concurrent movements using ETM.
3. Kinematics of microrobots using ETM.
4. Kinematics of measurement equipment and micromanipulator using ETM.
5.-13. Individual work on solution of kinematics and dynamics of selected mechanism.