Planar Multibody Dynamics: Formulation, Programming and Applications
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Summary
Written by Parviz Nikravesh, one of the world’s best known experts in multibody dynamics, Planar Multibody Dynamics: Formulation, Programming, and Applications enhances the quality and ease of design education with extensive use of the latest computerized design tools combined with coverage of classical design and dynamics of machinery principles.
Using language that is clear, concise, and to the point, the textbook introduces fundamental theories, computational methods, and program development for analyzing simple to complex planar mechanical systems. The author chose MATLAB® as the programming language, and since students may not be skilled programmers, the examples and exercises provide a tutorial for learning MATLAB. The examples begin with basic commands before introducing students to more advanced programming techniques. The routines developed in each chapter eventually come together to form complete programs for different types of analysis.
Pedagogical highlights
Contains homework problems at the end of each chapter, some requiring standard pencil-and-paper solution in order to understand the concept and others requiring either programming or the use of existing programs.
Electronic highlights
All the programs that are listed in the book, and some additional programs, will be available for download and will be updated periodically by the author. Additional materials for instructors, such as a solutions manual and other teaching aids, will also be available on the website.
The author organizes the analytical and computational subjects around practical application examples. He uses several examples repeatedly, in various chapters, providing students with a basis for comparison between different formulations. The final chapter describes more extensive modeling and simulation projects. Designed specifically for undergraduates, the book is suitable as a primary text for a course on mechanisms or a supplementary text for a course on dynamics.
Table of Contents
Introduction
Multibody Mechanical Systems
Types of Analyses
Methods of Formulation
Computer Programming
Application Examples
Unit System
Remarks
Preliminaries
Reference Axes
Scalars and Vectors
Matrices
Vector, Array, and Matrix Differentiation
Equations and Expressions
Remarks
Problems
Fundamentals of Kinematics
A Particle
Kinematics of a Rigid Body
Definitions
Remarks
Problems
Fundamentals of Dynamics
Newton’s Laws of Motion
Dynamics of a Body
Force Elements
Applied Forces
Reaction Force
Remarks
Problems
Point-Coordinates: Kinematics
Multipoint Representation
Stationary and Primary Points
Constraints
Velocity and Acceleration Constraints
Secondary Points
Example Programs
Remarks
Problems
Point-Coordinates: Dynamics
System of Unconstrained Particles
System of Constrained Particles
Force and Mass Distribution
Exact Mass Distribution
Remarks
Problems
Body-Coordinates: Kinematics
General Procedure
Kinematic Joints
Examples
Velocity and Acceleration Constraints
Programming Note
Example Programs
Other Types of Joints
Remarks
Problems
Body-Coordinates: Dynamics
System of Unconstrained Bodies
System of Constrained Bodies
Example Programs
Remarks
Problems
Joint-Coordinates: Kinematics
Vector-Loop Method
Joint Coordinate Method
Open-Chain Systems
Open-Chain Example Programs
Closed-Chain Systems
Closed-Chain Example Programs
Remarks
Problems
Joint-Coordinates: Dynamics
Open-Chain Systems
Open-Chain Example Program
Closed-Chain Systems
Closed-Chain Example Programs
Remarks
Problems
Kinematic Analysis
Unconstrained Formulation
Constrained Formulation
Solution Procedures
Linear Algebraic Equations
Nonlinear Algebraic Equations
Body Coordinate Formulation
Point Coordinate Formulation
Joint Coordinate Formulation
Remarks
Problems
Inverse Dynamic Analysis
Unconstrained Formulation
Constrained Formulation
Different Jacobian Matrices
Body Coordinate Formulation
Point Coordinate Formulation
Joint Coordinate Formulation
Remarks
Problems
Forward Dynamic Analysis
Unconstrained Formulation
Constrained Formulation
Body Coordinate Formulation
Joint Coordinate Formulation
Point Coordinate Formulation
Constraint Violation
Remarks
Problems
Complementary Analyses
Static Analysis
Static Equilibrium
Initial Condition Correction
Three Combined Analyses by Integration
Redundant Constraints
Friction
Deformable Body
Remarks
Problems
Projects
Windshield Wiper Mechanism
Internal Combustion Engine
Sled Test and Belted Dummy
Head and Neck
Mountain Bike
Motorcycle
Elliptical Exercise Machine
Swing
Appendix
References
Downloads Updates
| Resource | OS Platform | Updated | Description | Instructions |
|---|---|---|---|---|
| Errata_December20.zip | Platform type | January 07, 2008 | ||
| M-files_December20.zip | Cross Platform | January 07, 2008 |
