Dynamics And Balancing Of Multibody Systems

Author : Himanshu Chaudhary,Subir Kumar Saha
Publisher : Springer Science & Business Media
Page : 176 pages
File Size : 44,9 Mb
Release : 2008-09-27
Category : Technology & Engineering
ISBN : 9783540781790

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Dynamics and Balancing of Multibody Systems by Himanshu Chaudhary,Subir Kumar Saha Pdf

This book has evolved from the passionate desire of the authors in using the modern concepts of multibody dynamics for the design improvement of the machineries used in the rural sectors of India and The World. In this connection, the first author took up his doctoral research in 2003 whose findings have resulted in this book. It is expected that such developments will lead to a new research direction MuDRA, an acronym given by the authors to “Multibody Dynamics for Rural Applications. ” The way Mu- DRA is pronounced it means ‘money’ in many Indian languages. It is hoped that practicing MuDRA will save or generate money for the rural people either by saving energy consumption of their machines or making their products cheaper to manufacture, hence, generating more money for their livelihood. In this book, the initial focus was to improve the dynamic behavior of carpet scrapping machines used to wash newly woven hand-knotted c- pets of India. However, the concepts and methodologies presented in the book are equally applicable to non-rural machineries, be they robots or - tomobiles or something else. The dynamic modeling used in this book to compute the inertia-induced and constraint forces for the carpet scrapping machine is based on the concept of the decoupled natural orthogonal c- plement (DeNOC) matrices. The concept is originally proposed by the second author for the dynamics modeling and simulation of serial and - rallel-type multibody systems, e. g.

Author : Hubert Gattringer,Johannes Gerstmayr
Publisher : Springer Science & Business Media
Page : 317 pages
File Size : 42,7 Mb
Release : 2013-01-06
Category : Technology & Engineering
ISBN : 9783709112892

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Multibody System Dynamics, Robotics and Control by Hubert Gattringer,Johannes Gerstmayr Pdf

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

Author : Valery N. Pilipchuk
Publisher : Springer Science & Business Media
Page : 366 pages
File Size : 49,5 Mb
Release : 2010-05-09
Category : Science
ISBN : 9783642127991

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Nonlinear Dynamics by Valery N. Pilipchuk Pdf

Nonlinear Dynamics represents a wide interdisciplinary area of research dealing with a variety of “unusual” physical phenomena by means of nonlinear differential equations, discrete mappings, and related mathematical algorithms. However, with no real substitute for the linear superposition principle, the methods of Nonlinear Dynamics appeared to be very diverse, individual and technically complicated. This book makes an attempt to find a common ground for nonlinear dynamic analyses based on the existence of strongly nonlinear but quite simple counterparts to the linear models and tools. It is shown that, since the subgroup of rotations, harmonic oscillators, and the conventional complex analysis generate linear and weakly nonlinear approaches, then translations and reflections, impact oscillators, and hyperbolic (Clifford’s) algebras must give rise to some “quasi impact” methodology. Such strongly nonlinear methods are developed in several chapters of this book based on the idea of non-smooth time substitutions. Although most of the illustrations are based on mechanical oscillators, the area of applications may include also electric, electro-mechanical, electrochemical and other physical models generating strongly anharmonic temporal signals or spatial distributions. Possible applications to periodic elastic structures with non-smooth or discontinuous characteristics are outlined in the final chapter of the book.

Author : Robert E. Roberson,Richard Schwertassek
Publisher : Springer Science & Business Media
Page : 469 pages
File Size : 55,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783642864643

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Dynamics of Multibody Systems by Robert E. Roberson,Richard Schwertassek Pdf

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.

Author : João Carlos Mendes Carvalho,Daniel Martins,Roberto Simoni,Henrique Simas
Publisher : Springer
Page : 567 pages
File Size : 40,8 Mb
Release : 2017-09-29
Category : Technology & Engineering
ISBN : 9783319675671

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Multibody Mechatronic Systems by João Carlos Mendes Carvalho,Daniel Martins,Roberto Simoni,Henrique Simas Pdf

These are the Proceedings of the 6th International Symposium on Multibody Systems and Mechatronics (MUSME 2017) which was held in Florianópolis, Brazil, October 24-28, 2017. Topics addressed include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME 2017 Symposium was one of the activities of the FEIbIM Commission for Mechatronics and IFToMM technical Committees for Multibody Dynamics, Robotics and Mechatronics.

Author : Ronald L. Huston
Publisher : Butterworth-Heinemann
Page : 444 pages
File Size : 46,5 Mb
Release : 1990
Category : Biomechanics
ISBN : UOM:39015048924123

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Multibody Dynamics by Ronald L. Huston Pdf

This book develops the fundamentals of multibody dynamics from the principles of elementary mechanics. It is written in a tutorial style with numerous examples and an emphasis upon computational methods. This book should be accessible to anyone with a basic knowledge of elementary mechanics and analysis. Multibody Dynamics examines the behavior of systems of bodies subjected to forces or constraints. The bodies may be securely or loosely connected, and flexible or rigid. Such generality allows the use of multibody systems to model an increasing number of physical systems ranging from robots, biosystems (human body models), satellite booms, large structures, chains and cables. Until recently, analyses of such systems were virtually intractable. With the availability of high-speed digital computers, however, and with corresponding advances in analysis methods, multibody dynamics analyses are not only feasible, they are also practical, and applicable, to these important physical systems.

Author : Nicolae Pandrea,Nicolae-Doru Stanescu
Publisher : John Wiley & Sons
Page : 336 pages
File Size : 47,5 Mb
Release : 2016-05-03
Category : Technology & Engineering
ISBN : 9781118954416

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Dynamics of the Rigid Solid with General Constraints by a Multibody Approach by Nicolae Pandrea,Nicolae-Doru Stanescu Pdf

Covers both holonomic and non-holonomic constraints in a study of the mechanics of the constrained rigid body. Covers all types of general constraints applicable to the solid rigid Performs calculations in matrix form Provides algorithms for the numerical calculations for each type of constraint Includes solved numerical examples Accompanied by a website hosting programs

Author : Jan Awrejcewicz
Publisher : Springer Science & Business Media
Page : 336 pages
File Size : 53,6 Mb
Release : 2008-12-26
Category : Technology & Engineering
ISBN : 9781402087783

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Modeling, Simulation and Control of Nonlinear Engineering Dynamical Systems by Jan Awrejcewicz Pdf

This volume contains the invited papers presented at the 9th International Conference "Dynamical Systems — Theory and Applications" held in Lódz, Poland, December 17-20, 2007, dealing with nonlinear dynamical systems. The conference brought together a large group of outstanding scientists and engineers, who deal with various problems of dynamics encountered both in engineering and in daily life. Topics covered include, among others, bifurcations and chaos in mechanical systems; control in dynamical systems; asymptotic methods in nonlinear dynamics; stability of dynamical systems; lumped and continuous systems vibrations; original numerical methods of vibration analysis; and man-machine interactions. Thus, the reader is given an overview of the most recent developments of dynamical systems and can follow the newest trends in this field of science. This book will be of interest to to pure and applied scientists working in the field of nonlinear dynamics.

Author : Suril Vijaykumar Shah,Subir Kumar Saha,Jayanta Kumar Dutt
Publisher : Springer Science & Business Media
Page : 256 pages
File Size : 54,5 Mb
Release : 2012-12-14
Category : Technology & Engineering
ISBN : 9789400750067

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Dynamics of Tree-Type Robotic Systems by Suril Vijaykumar Shah,Subir Kumar Saha,Jayanta Kumar Dutt Pdf

This book addresses dynamic modelling methodology and analyses of tree-type robotic systems. Such analyses are required to visualize the motion of a system without really building it. The book contains novel treatment of the tree-type systems using concept of kinematic modules and the corresponding Decoupled Natural Orthogonal Complements (DeNOC), unified representation of the multiple-degrees-of freedom-joints, efficient recursive dynamics algorithms, and detailed dynamic analyses of several legged robots. The book will help graduate students, researchers and practicing engineers in applying their knowledge of dynamics for analysis of complex robotic systems. The knowledge contained in the book will help one in virtual testing of robot operation, trajectory planning and control.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 49,6 Mb
Release : 1978
Category : Electronic
ISBN : OCLC:163327325

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Dynamics of Multibody Systems by Anonim Pdf

Author : Vigen Arakelian,Sébastien Briot
Publisher : Springer
Page : 298 pages
File Size : 50,7 Mb
Release : 2015-01-27
Category : Technology & Engineering
ISBN : 9783319124902

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Balancing of Linkages and Robot Manipulators by Vigen Arakelian,Sébastien Briot Pdf

In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.

Author : Xiaoting Rui,Guoping Wang,Jianshu Zhang
Publisher : John Wiley & Sons
Page : 762 pages
File Size : 43,8 Mb
Release : 2018-11-29
Category : Mathematics
ISBN : 9781118724804

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Transfer Matrix Method for Multibody Systems by Xiaoting Rui,Guoping Wang,Jianshu Zhang Pdf

TRANSFER MATRIX METHOD FOR MULTIBODY SYSTEMS: THEORY AND APPLICATIONS Xiaoting Rui, Guoping Wang and Jianshu Zhang - Nanjing University of Science and Technology, China Featuring a new method of multibody system dynamics, this book introduces the transfer matrix method systematically for the first time. First developed by the lead author and his research team, this method has found numerous engineering and technological applications. Readers are first introduced to fundamental concepts like the body dynamics equation, augmented operator and augmented eigenvector before going in depth into precision analysis and computations of eigenvalue problems as well as dynamic responses. The book also covers a combination of mixed methods and practical applications in multiple rocket launch systems, self-propelled artillery as well as launch dynamics of on-ship weaponry. • Comprehensively introduces a new method of analyzing multibody dynamics for engineers • Provides a logical development of the transfer matrix method as applied to the dynamics of multibody systems that consist of interconnected bodies • Features varied applications in weaponry, aeronautics, astronautics, vehicles and robotics Written by an internationally renowned author and research team with many years' experience in multibody systems Transfer Matrix Method of Multibody System and Its Applications is an advanced level text for researchers and engineers in mechanical system dynamics. It is a comprehensive reference for advanced students and researchers in the related fields of aerospace, vehicle, robotics and weaponry engineering.

Author : Dan Zhang,Bin Wei
Publisher : Springer
Page : 527 pages
File Size : 42,6 Mb
Release : 2015-10-20
Category : Technology & Engineering
ISBN : 9783319176833

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Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots by Dan Zhang,Bin Wei Pdf

This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: · Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept · Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms · Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.

Author : Ahmed A. Shabana
Publisher : Cambridge University Press
Page : 408 pages
File Size : 42,9 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.

Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Page : 512 pages
File Size : 49,6 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.