Concepts and Formulations for Spatial Multibody Dynamics

• Main Author: Flores, Paulo (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2015.
• Series: SpringerBriefs in Applied Sciences and Technology,
• Subjects: Engineering.; System theory.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Robotics.; Mechatronics.; Vibration, Dynamical Systems, Control.; Control, Robotics, Mechatronics.; Systems Theory, Control.

This book will be particularly useful to those interested in multibody simulation (MBS) and the formulation for the dynamics of spatial multibody systems. The main types of coordinates that can be used in the formulation of the equations of motion of constrained multibody systems are described. The...

Table of Contents:

• 1 Definition of Multibody System
• 2 Fundamental Concepts in Multibody Dynamics
• 3 Global and Local Coordinates
• 4 Euler Angles, Bryant Angles and Euler Parameters
• 5 Angular Velocity and Acceleration
• 6 Vector of Coordinates, Velocities and Accelerations
• 7 Kinematic Constraint Equations
• 8 Basic Constraints between Two Vectors
• 9 Kinematic Joints Constraints
• 10 Equations of Motion for Constrained Systems
• 11 Force Elements and Reaction Forces
• 12 Methods to Solve the Equations of Motion
• 13 Integration Methods in Dynamic Analysis
• 14 Correction of the Initial Conditions
• 15 Demonstrative Example of Application.