000 03901nam a22005655i 4500
001 978-3-319-16190-7
003 DE-He213
005 20200421111703.0
007 cr nn 008mamaa
008 150304s2015 gw | s |||| 0|eng d
020 _a9783319161907
_9978-3-319-16190-7
024 7 _a10.1007/978-3-319-16190-7
_2doi
050 4 _aTA355
050 4 _aTA352-356
072 7 _aTGMD4
_2bicssc
072 7 _aTEC009070
_2bisacsh
072 7 _aSCI018000
_2bisacsh
082 0 4 _a620
_223
100 1 _aFlores, Paulo.
_eauthor.
245 1 0 _aConcepts and Formulations for Spatial Multibody Dynamics
_h[electronic resource] /
_cby Paulo Flores.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2015.
300 _aVIII, 83 p. 36 illus., 1 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringerBriefs in Applied Sciences and Technology,
_x2191-530X
505 0 _a1 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.
520 _aThis 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.
650 0 _aEngineering.
650 0 _aSystem theory.
650 0 _aVibration.
650 0 _aDynamical systems.
650 0 _aDynamics.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 1 4 _aEngineering.
650 2 4 _aVibration, Dynamical Systems, Control.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aSystems Theory, Control.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319161891
830 0 _aSpringerBriefs in Applied Sciences and Technology,
_x2191-530X
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-16190-7
912 _aZDB-2-ENG
942 _cEBK
999 _c55100
_d55100