Dynamics of Multibody Systems

Author: Jens Wittenburg

Publisher: Springer Science & Business Media

ISBN: 3540739149

Category: Technology & Engineering

Page: 223

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Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Dynamics of Multibody Systems

Author: Ahmed A. Shabana

Publisher: Cambridge University Press

ISBN: 1107435889

Category: Science

Page: 408

View: 6414

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This enhanced fourth edition of Dynamics of Multibody Systems includes an additional chapter that provides explanations of some of the fundamental issues addressed in the book, as well as new detailed derivations of some important problems. Many common mechanisms such as automobiles, space structures, robots and micromachines have mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. The book begins with a review of the basic ideas of kinematics and the dynamics of rigid and deformable bodies before moving on to more advanced topics and computer implementation. The book's wealth of examples and practical applications will be useful to graduate students, researchers and practising engineers working on a wide variety of flexible multibody systems.

Symbolic Modeling of Multibody Systems

Author: J-C. Samin,P. Fisette

Publisher: Springer Science & Business Media

ISBN: 9781402016295

Category: Technology & Engineering

Page: 476

View: 8201

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Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz, the symbolic generation of most of the ingredients needed to set up the model. The symbolic approach chosen, specially dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

Fundamentals of Multibody Dynamics

Theory and Applications

Author: Farid Amirouche

Publisher: Springer Science & Business Media

ISBN: 0817644067

Category: Technology & Engineering

Page: 684

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This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.

Dynamics of Flexible Multibody Systems

Rigid Finite Element Method

Author: Edmund Wittbrodt,Iwona Adamiec-Wójcik,Stanislaw Wojciech

Publisher: Springer Science & Business Media

ISBN: 354032352X

Category: Mathematics

Page: 227

View: 9309

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A new approach is presented in this book for modelling multi-body systems, which constitutes a substantial enhancement of the Rigid Finite Element method. The new approach is based on homogeneous transformations and joint coordinates. Apart from its simple physical interpretation and easy computer implementation, the method is also valuable for educational purposes since it impressively illustrates the impact of mechanical features on the mathematical model.

Dynamics of Underactuated Multibody Systems

Modeling, Control and Optimal Design

Author: Robert Seifried

Publisher: Springer Science & Business Media

ISBN: 3319012282

Category: Technology & Engineering

Page: 249

View: 3764

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Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

Kinematics and Dynamics of Multibody Systems with Imperfect Joints

Models and Case Studies

Author: Paulo Flores,Jorge Ambrósio,J.C. Pimenta Claro,Hamid M. Lankarani

Publisher: Springer Science & Business Media

ISBN: 9783540743613

Category: Technology & Engineering

Page: 169

View: 8746

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This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.

Dynamics of Particles and Rigid Bodies

A Systematic Approach

Author: Anil Rao

Publisher: Cambridge University Press

ISBN: 9780521858113

Category: Science

Page: 509

View: 8235

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This 2006 work is intended for students who want a rigorous, systematic, introduction to engineering dynamics.

Kinematic and Dynamic Simulation of Multibody Systems

The Real-Time Challenge

Author: Javier Garcia de Jalon,Eduardo Bayo

Publisher: Springer Science & Business Media

ISBN: 1461226007

Category: Science

Page: 440

View: 3282

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Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

Flexible Multibody Dynamics

Author: O. A. Bauchau

Publisher: Springer Science & Business Media

ISBN: 9789400703353

Category: Technology & Engineering

Page: 730

View: 9104

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The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations. This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.

Virtual Nonlinear Multibody Systems

Author: Werner Schiehlen,Michael Valásek

Publisher: Springer Science & Business Media

ISBN: 9781402013393

Category: Technology & Engineering

Page: 439

View: 1993

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This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.

Strukturdynamik

Diskrete Systeme und Kontinua

Author: Robert Gasch,Klaus Knothe,Robert Liebich

Publisher: Springer-Verlag

ISBN: 3540889779

Category: Science

Page: 670

View: 733

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Das Buch behandelt diskrete schwingungsfähige Systeme und beschreibt Analyseverfahren und Algorithmen zur Aufstellung von Bewegungsdifferentialgleichungen allgemeiner linearer Mehrkörpersysteme. Die Neuauflage vereint die Bände „Strukturdynamik I und II" (Gasch/Knothe) und legt im Bereich der numerischen Behandlung von Schwingungssystemen den Schwerpunkt auf die industrielle Anwendung. Das Buch wurde als Lehrbuch für Hochschulen und Fachhochschulen konzipiert, eignet sich aber auch zum Selbststudium für Ingenieure in Forschung und Industrie.

Advanced Design of Mechanical Systems: From Analysis to Optimization

Author: Jorge A.C. Ambrosio,Peter Eberhard

Publisher: Springer Science & Business Media

ISBN: 3211994610

Category: Technology & Engineering

Page: 426

View: 2745

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Multibody systems are used extensively in the investigation of mechanical systems including structural and non-structural applications. It can be argued that among all the areas in solid mechanics the methodologies and applications associated to multibody dynamics are those that provide an ideal framework to aggregate d- ferent disciplines. This idea is clearly reflected, e. g. , in the multidisciplinary applications in biomechanics that use multibody dynamics to describe the motion of the biological entities, in finite elements where multibody dynamics provides - werful tools to describe large motion and kinematic restrictions between system components, in system control where the methodologies used in multibody dynamics are the prime form of describing the systems under analysis, or even in many - plications that involve fluid-structure interaction or aero elasticity. The development of industrial products or the development of analysis tools, using multibody dynamics methodologies, requires that the final result of the devel- ments are the best possible within some limitations, i. e. , they must be optimal. Furthermore, the performance of the developed systems must either be relatively insensitive to some of their design parameters or be sensitive in a controlled manner to other variables. Therefore, the sensitivity analysis of such systems is fundamental to support the decision making process. This book presents a broad range of tools for designing mechanical systems ranging from the kinematic and dynamic analysis of rigid and flexible multibody systems to their advanced optimization.

Advanced Multibody System Dynamics

Simulation and Software Tools

Author: Werner Schiehlen

Publisher: Springer Science & Business Media

ISBN: 9401706255

Category: Science

Page: 482

View: 9065

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The German Research Council (DFG) decided 1987 to establish a nationwide five year research project devoted to dynamics of multibody systems. In this project universities and research centers cooperated with the goal to develop a general pur pose multibody system software package. This concept provides the opportunity to use a modular structure of the software, i.e. different multibody formalisms may be combined with different simulation programmes via standardized interfaces. For the DFG project the database RSYST was chosen using standard FORTRAN 77 and an object oriented multibody system datamodel was defined. The project included • research on the fundamentals of the method of multibody systems, • concepts for new formalisms of dynamical analysis, • development of efficient numerical algorithms and • realization of a powerful software package of multibody systems. These goals required an interdisciplinary cooperation between mathematics, compu ter science, mechanics, and control theory. ix X After a rigorous reviewing process the following research institutions participated in the project (under the responsibility of leading scientists): Technical University of Aachen (Prof. G. Sedlacek) Technical University of Darmstadt (Prof. P. Hagedorn) University of Duisburg M. Hiller) (Prof.

Rigid Body Dynamics of Mechanisms 2

2 Applications

Author: Hubert Hahn

Publisher: Springer Science & Business Media

ISBN: 9783540022374

Category: Computers

Page: 665

View: 2345

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The second volume of Rigid Body Dynamics of Mechanisms covers applications via a systematic method for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume that introduces the theoretical mechanical aspects of mechatronic systems. Here the focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, plus active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. The examples included are a likely source from which to choose models for university lectures.

Multibody Systems Handbook

Author: Werner Schiehlen

Publisher: Springer Science & Business Media

ISBN: 3642509959

Category: Technology & Engineering

Page: 432

View: 4213

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Dynamics of multibody systems is of great importance in the fields of robotics, biomechanics, spacecraft control, road and rail vehicle design, and dynamics of machinery. Many research problems have been solved and a considerable number of computer codes based on multibody formalisms is now available. With the present book it is intended to collect software systems for multibody system dynamics which are well established and have found acceptance in the users community. The Handbook will aid the reader in selecting the software system which is most appropriate to his needs. Altogether 17 research groups contributed to the Handbook. A compact summary of important capabilities of these software systems is presented in tabular form. All authors dealt with two typical test examples, a planar mechanism and a spatial robot. Thus, it is very easy to compare the results and to identify more clearly the advantages of one or the other formalism.

The Multibody Systems Approach to Vehicle Dynamics

Author: Michael Blundell,Damian Harty

Publisher: Elsevier

ISBN: 0080994288

Category: Technology & Engineering

Page: 768

View: 8047

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Filling the gaps between subjective vehicle assessment, classical vehicle dynamics and computer-based multibody approaches, The Multibody Systems Approach to Vehicle Dynamics offers unique coverage of both the virtual and practical aspects of vehicle dynamics from concept design to system analysis and handling development. The book provides valuable foundation knowledge of vehicle dynamics as well as drawing on laboratory studies, test-track work, and finished vehicle applications to gel theory with practical examples and observations. Combined with insights into the capabilities and limitations of multibody simulation, this comprehensive mix provides the background understanding, practical reality and simulation know-how needed to make and interpret useful models. New to this edition you will find coverage of the latest tire models, changes to the modeling of light commercial vehicles, developments in active safety systems, torque vectoring, and examples in AView, as well as updates to theory, simulation, and modeling techniques throughout. Unique gelling of foundational theory, research findings, practical insights, and multibody systems modeling know-how, reflecting the mixed academic and industrial experience of this expert author team Coverage of the latest models, safety developments, simulation methods, and features bring the new edition up to date with advances in this critical and evolving field