Computer-aided Analysis of Rigid and Flexible Mechanical SystemsManuel F. O. Seabra Pereira, Jorge A. C. Ambrósio Preface. Part I: Methods in Rigid Multibody Dynamics. Constrained Multibody Dynamics; R.A. Wehage, M.J. Belczynski. Construction of the Equations of Motion for Multibody Dynamics Using Point and Joint Coordinates; P.E. Nikravesh, H.A. Affifi. Dynamics of Multibody Systems with Minimal Coordinates; M. Hiller, A. Kecskeméthy. Symbolic Computations in Multibody Systems; W. Schiehlen. On-Line Dynamic Analysis of Mechanical Systems; T.R. Kane. Topological Description of Articulated Systems; J. Wittenburg. Part II: Dynamics of Flexible Mechanical Systems. Flexibility in Multibody Dynamics with Applications to Crashworthiness; J.A.C. Ambrósio, M.S. Pereira. Finite Element Modelling Concepts in Multibody Dynamics; M. Géradin, A. Cardona, D.B. Doan, J. Duysens. Kinematic and Dynamic Simulation of Rigid and Flexible Systems with Fully Cartesian Coordinates; J. García de Jalon, J. Cuadrado, A. Avello, J.M. Jiménez. Computer Implementation of Flexible Multibody Equations; A.A. Shabana. Flexibility Effects in Multibody Systems; R.L. Huston, Y. Wang. Part III: Kinematic Aspects of Multibody Systems. On Twist and Wrench Generators and Annihilators; J. Angeles. Application of Computer Aided Kinematics to Modelling of Contacts in Robotic Manipulation; J. de Schutter, H. Bruyninckx, S. Dutré. Part IV: Computational Issues and Numerical Methods. Reduction of Multibody Simulation Time by Appropriate Formulation of Dynamical System Equations; R. Schwertassek. Computational Challenges in Mechanical Systems Simulation; L.R. Petzold. Numerical Integration of Second Order Differential-Algebraic Systems in Flexible Mechanism Dynamics; A. Cardona, M.Géradin. Part V: Man/Machine Interaction and Virtual Prototyping. Dynamic Simulation for Vehicle Virtual Prototyping; J.S. Freeman, E.J. Haug, J.G. Kuhl, F.F. Tsai. Man/Machine Interaction Dynamics and Performance Analysis, Biomechanics and NDISCOS Multibody Equations; H.P. Frish. Index. |
Contents
Using Point and Joint Coordinates | 31 |
Dynamics of Multibody Systems with Minimal Coordinates | 61 |
Symbolic Computations in Multibody Systems | 101 |
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accelerations algebraic algorithm angular velocity applied associated axis beam coefficient components configuration constraint equations contact frames contact point coordinate system corresponding cut-joint defined deformable body degrees of freedom derivatives described developed differential equations displacement dynamic analysis dynamic equations elastic equations of motion expressed Figure finite element flexible body flexible multibody forces formulation function geometric Haug hinge independent coordinates inertia integration inverse kinematics Jacobian Jacobian matrix joint coordinates kinematic chain kinematic constraints kinematic pair kinematical loops Lagrange multipliers linear loads manipulator mass matrix Mechanical Systems method motion constraints multibody dynamics multibody systems NDISCOS nodal nodes nonlinear numerical obtained p-frame parallel parameters position primary points problem R₁ recursive reference frame relative represent respect revolute joint rigid body robot rotation simulation solution solved spatial structure surface torque transformation twist unit vectors variables vehicle virtual wrench