Dynamics of Multibody Systems

✍ Scribed by Professor Robert E. Roberson, Dr.-Ing. Richard Schwertassek (auth.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 1988
• Tongue: English
• Leaves: 468
• Edition: 1
• Category: Library

✦ Synopsis

Multibody systems are the appropriate models for predicting and evaluating performance of a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or biomechanical systems. This book adresses the general problem of analysing the behaviour of such multibody systems by digital simulation. This implies that pre-computer analytical methods for deriving the system equations must be replaced by systematic computer oriented formalisms, which can be translated conveniently into efficient computer codes for - generating the system equations based on simple user data describing the system model - solving those complex equations yielding results ready for design evaluation. Emphasis is on computer based derivation of the system equations thus freeing the user from the time consuming and error-prone task of developing equations of motion for various problems again and again.

✦ Table of Contents

Front Matter....Pages I-XV
Front Matter....Pages 1-1
Multibody Systems....Pages 3-37
Mathematical Preliminaries....Pages 38-56
Front Matter....Pages 57-57
Location and Orientation....Pages 59-78
Velocity....Pages 79-88
Kinematical Equations of Motion....Pages 89-125
Front Matter....Pages 127-127
Physical Preliminaries....Pages 129-141
Dynamical Equations....Pages 142-172
Front Matter....Pages 173-173
Foundations....Pages 175-201
Formalisms....Pages 202-228
Kinematics....Pages 229-258
Dynamics....Pages 259-300
Special Topics....Pages 301-328
Linearized Equations....Pages 329-364
Computer Simulation....Pages 365-411
Back Matter....Pages 412-460

✦ Subjects

Automotive Engineering;Appl.Mathematics/Computational Methods of Engineering;Theoretical and Applied Mechanics;Engineering Design;Control, Robotics, Mechatronics