Concepts And Formulations For Spatial Multibody Dynamics

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Concepts and Formulations for Spatial Multibody Dynamics

Paulo Flores
Concepts and Formulations for Spatial Multibody Dynamics Book PDF

Author : Paulo Flores
Publisher : Unknown
Page : 128 pages
File Size : 42,6 Mb
Release : 2015
Category : Electronic
ISBN : 3319161911

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Concepts and Formulations for Spatial Multibody Dynamics by Paulo Flores Pdf

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 multibody system, made of interconnected bodies that undergo large displacements and rotations, is fully defined. Readers will discover how Cartesian coordinates and Euler parameters are utilized and are the supporting structure for all methodologies and dynamic analysis, developed within the multibody systems methodologies. The work also covers the constraint equations associated with the basic kinematic joints, as well as those related to the constraints between two vectors. The formulation of multibody systems adopted here uses the generalized coordinates and the Newton-Euler approach to derive the equations of motion. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of multibody systems. This approach is very straightforward in terms of assembling the equations of motion and providing all joint reaction forces. The demonstrative examples and discussions of applications are particularly valuable aspects of this book, which builds the reader's understanding of fundamental concepts.

Concepts and Formulations for Spatial Multibody Dynamics

Paulo Flores
Concepts and Formulations for Spatial Multibody Dynamics Book PDF

Author : Paulo Flores
Publisher : Springer
Page : 83 pages
File Size : 40,6 Mb
Release : 2015-03-04
Category : Technology & Engineering
ISBN : 9783319161907

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Concepts and Formulations for Spatial Multibody Dynamics by Paulo Flores Pdf

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 multibody system, made of interconnected bodies that undergo large displacements and rotations, is fully defined. Readers will discover how Cartesian coordinates and Euler parameters are utilized and are the supporting structure for all methodologies and dynamic analysis, developed within the multibody systems methodologies. The work also covers the constraint equations associated with the basic kinematic joints, as well as those related to the constraints between two vectors. The formulation of multibody systems adopted here uses the generalized coordinates and the Newton-Euler approach to derive the equations of motion. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of multibody systems. This approach is very straightforward in terms of assembling the equations of motion and providing all joint reaction forces. The demonstrative examples and discussions of applications are particularly valuable aspects of this book, which builds the reader’s understanding of fundamental concepts.

Contact Force Models for Multibody Dynamics

Paulo Flores,Hamid M. Lankarani
Contact Force Models for Multibody Dynamics Book PDF

Author : Paulo Flores,Hamid M. Lankarani
Publisher : Springer
Page : 171 pages
File Size : 41,6 Mb
Release : 2016-03-15
Category : Technology & Engineering
ISBN : 9783319308975

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Contact Force Models for Multibody Dynamics by Paulo Flores,Hamid M. Lankarani Pdf

This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.

Multibody Mechatronic Systems

Martín Pucheta,Alberto Cardona,Sergio Preidikman,Rogelio Hecker
Multibody Mechatronic Systems Book PDF

Author : Martín Pucheta,Alberto Cardona,Sergio Preidikman,Rogelio Hecker
Publisher : Springer Nature
Page : 235 pages
File Size : 54,9 Mb
Release : 2021-10-13
Category : Technology & Engineering
ISBN : 9783030887513

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Multibody Mechatronic Systems by Martín Pucheta,Alberto Cardona,Sergio Preidikman,Rogelio Hecker Pdf

This book gathers the latest advances, innovations, and applications in the field of multibody and mechatronic systems. Topics addressed include the analysis and synthesis of mechanisms; modelling and simulation of multibody systems; railway and vehicle dynamics; mechatronic systems for energy harvesting; robot design and optimization; and mechatronic design. It gathers the second volume of the proceedings of the 7th International Symposium on Multibody Systems and Mechatronics (MuSMe), virtually held in Cordoba, Argentina, on October 12-15, 2021, within the framework of the FEIbIM Commission for Robotics and Mechanisms and IFToMM Technical Committees for Multibody Dynamics and for Robotics and Mechatronics.

Track Data-Oriented Maintenance Intervention Limit Determination for Ballasted Light Rail Tracks through Multibody Simulations

David Camacho Alcocer
Track Data Oriented Maintenance Intervention Limit Determination for Ballasted Light Rail Tracks through Multibody Simulations Book PDF

Author : David Camacho Alcocer
Publisher : BoD – Books on Demand
Page : 210 pages
File Size : 42,5 Mb
Release : 2021-07-13
Category : Technology & Engineering
ISBN : 9783753463063

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Track Data-Oriented Maintenance Intervention Limit Determination for Ballasted Light Rail Tracks through Multibody Simulations by David Camacho Alcocer Pdf

Light rail trains (LRT) are an important part of public transport but due to perceived high life-cycle costs are not always considered suitable. Life cycle cost reduction might be achieved through a knowledge-based maintenance management rather than just on experience. This work develops limits of maintenance and renewal of LRT systems based on vehicle reactions to the current track quality through measured data, multibody simulations and track geometry indices. An approach based on knowledge would lead to a track condition which allows a safe, comfortable, and under an appropriate maintenance strategy, economically profitable operation.

Parallel PnP Robots

Guanglei Wu,Huiping Shen
Parallel PnP Robots Book PDF

Author : Guanglei Wu,Huiping Shen
Publisher : Springer Nature
Page : 251 pages
File Size : 43,7 Mb
Release : 2020-08-08
Category : Technology & Engineering
ISBN : 9789811566714

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Parallel PnP Robots by Guanglei Wu,Huiping Shen Pdf

This book discusses the parametric modeling, performance evaluation, design optimization and comparative study of the high-speed, parallel pick-and-place robots. It collects the modeling methodology, evaluation criteria and design guidelines for parallel PnP robots to provide a systematic analysis method for robotic developers. Furthermore, it gathers the research results previously scattered in many prestigious international journals and conference proceedings and methodically edits them and presents them in a unified form. The book is of interest to researchers, R&D engineers and graduate students in industrial parallel robotics who wish to learn the core principles, methods, algorithms, and applications.

Vehicle and Automotive Engineering 4

Károly Jármai,Ákos Cservenák
Vehicle and Automotive Engineering 4 Book PDF

Author : Károly Jármai,Ákos Cservenák
Publisher : Springer Nature
Page : 1046 pages
File Size : 46,5 Mb
Release : 2022-09-09
Category : Technology & Engineering
ISBN : 9783031152115

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Vehicle and Automotive Engineering 4 by Károly Jármai,Ákos Cservenák Pdf

This book presents the selected proceedings of the (third) fourth Vehicle and Automotive Engineering conference, reflecting the outcomes of theoretical and practical studies and outlining future development trends in a broad field of automotive research. The conference’s main themes included design, manufacturing, economic and educational topics.

Proceedings of the 6th International Conference on Industrial Engineering (ICIE 2020)

Andrey A. Radionov,Vadim R. Gasiyarov
Proceedings of the 6th International Conference on Industrial Engineering ICIE 2020 Book PDF

Author : Andrey A. Radionov,Vadim R. Gasiyarov
Publisher : Springer Nature
Page : 1416 pages
File Size : 50,8 Mb
Release : 2021-03-26
Category : Technology & Engineering
ISBN : 9783030548179

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Proceedings of the 6th International Conference on Industrial Engineering (ICIE 2020) by Andrey A. Radionov,Vadim R. Gasiyarov Pdf

This book highlights recent findings in industrial, manufacturing and mechanical engineering, and provides an overview of the state of the art in these fields, mainly in Russia and Eastern Europe. A broad range of topics and issues in modern engineering are discussed, including the dynamics of machines and working processes, friction, wear and lubrication in machines, surface transport and technological machines, manufacturing engineering of industrial facilities, materials engineering, metallurgy, control systems and their industrial applications, industrial mechatronics, automation and robotics. The book gathers selected papers presented at the 6th International Conference on Industrial Engineering (ICIE), held in Sochi, Russia in May 2020. The authors are experts in various fields of engineering, and all papers have been carefully reviewed. Given its scope, the book will be of interest to a wide readership, including mechanical and production engineers, lecturers in engineering disciplines, and engineering graduates.

Robot and Multibody Dynamics

Abhinandan Jain
Robot and Multibody Dynamics Book PDF

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Page : 510 pages
File Size : 48,7 Mb
Release : 2010-12-17
Category : Technology & Engineering
ISBN : 9781441972675

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Robot and Multibody Dynamics by Abhinandan Jain Pdf

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Taeyoung Lee,Melvin Leok,N. Harris McClamroch
Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds Book PDF

Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
Publisher : Springer
Page : 539 pages
File Size : 54,5 Mb
Release : 2017-08-14
Category : Mathematics
ISBN : 9783319569536

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Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds by Taeyoung Lee,Melvin Leok,N. Harris McClamroch Pdf

This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

Fundamentals of Multibody Dynamics

Farid Amirouche
Fundamentals of Multibody Dynamics Book PDF

Author : Farid Amirouche
Publisher : Springer Science & Business Media
Page : 692 pages
File Size : 43,9 Mb
Release : 2007-05-24
Category : Technology & Engineering
ISBN : 9780817644062

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Fundamentals of Multibody Dynamics by Farid Amirouche Pdf

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 Multibody Systems

Ahmed A. Shabana
Dynamics of Multibody Systems Book PDF

Author : Ahmed A. Shabana
Publisher : Cambridge University Press
Page : 408 pages
File Size : 54,8 Mb
Release : 2013-09-02
Category : Science
ISBN : 9781107435889

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Dynamics of Multibody Systems by Ahmed A. Shabana Pdf

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.

Computational Dynamics

Ahmed A. Shabana
Computational Dynamics Book PDF

Author : Ahmed A. Shabana
Publisher : John Wiley & Sons
Page : 542 pages
File Size : 48,8 Mb
Release : 2009-11-06
Category : Science
ISBN : 9780470686867

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Computational Dynamics by Ahmed A. Shabana Pdf

Computational Dynamics, 3rd edition, thoroughly revised and updated, provides logical coverage of both theory and numerical computation techniques for practical applications. The author introduces students to this advanced topic covering the concepts, definitions and techniques used in multi-body system dynamics including essential coverage of kinematics and dynamics of motion in three dimensions. He uses analytical tools including Lagrangian and Hamiltonian methods as well as Newton-Euler Equations. An educational version of multibody computer code is now included in this new edition www.wiley.com/go/shabana that can be used for instruction and demonstration of the theories and formulations presented in the book, and a new chapter is included to explain the use of this code in solving practical engineering problems. Most books treat the subject of dynamics from an analytical point of view, focusing on the techniques for analyzing the problems presented. This book is exceptional in that it covers the practical computational methods used to solve "real-world" problems. This makes it of particular interest not only for senior/ graduate courses in mechanical and aerospace engineering, but also to professional engineers. Modern and focused treatment of the mathematical techniques, physical theories and application of rigid body mechanics that emphasizes the fundamentals of the subject, stresses the importance of computational methods and offers a wide variety of examples. Each chapter features simple examples that show the main ideas and procedures, as well as straightforward problem sets that facilitate learning and help readers build problem-solving skills

Kinematic and Dynamic Simulation of Multibody Systems

Javier Garcia de Jalon,Eduardo Bayo
Kinematic and Dynamic Simulation of Multibody Systems Book PDF

Author : Javier Garcia de Jalon,Eduardo Bayo
Publisher : Springer Science & Business Media
Page : 456 pages
File Size : 41,8 Mb
Release : 2012-12-06
Category : Science
ISBN : 9781461226000

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Kinematic and Dynamic Simulation of Multibody Systems by Javier Garcia de Jalon,Eduardo Bayo Pdf

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.

Multibody Dynamics 2019

Andrés Kecskeméthy,Francisco Geu Flores
Multibody Dynamics 2019 Book PDF

Author : Andrés Kecskeméthy,Francisco Geu Flores
Publisher : Springer
Page : 545 pages
File Size : 45,9 Mb
Release : 2019-06-28
Category : Technology & Engineering
ISBN : 9783030231323

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Multibody Dynamics 2019 by Andrés Kecskeméthy,Francisco Geu Flores Pdf

In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.