Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge (

Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge (Mechanical Engineering Series)

by:?Javier Garcia de Jalon, Eduardo Bayo
en?|?Springer

0387940960? 9780387940960? 3540940960? 9783540940968?   


  
Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge (Mechanical Engineering Series)
By Javier Garcia de Jalon, Eduardo Bayo  
?  
Publisher:?? Springer
Number Of Pages:?? 440
Publication Date:?? 1993-12-17
ISBN-10 / ASIN:?? 0387940960
ISBN-13 / EAN:?? 9780387940960   

Product Description:   
Kinematic and dynamic simulation of multi-body systems is an important tool for analysis and design of a wide variety of systems, and similar to the finite-element method, it constitutes an integral part of Computer-Aided Engineering. While the finite-element method is essentially a "batch" process, the analysis of multi-body systems can be inherently interactive. With the spectacular growth in computing power now available to individual users and with the improvements in simulation algorithms, it is becoming more and more feasible for engineers to use interactive and even real-time dynamic analyses in every day engineering calculations. This text presents the main types of coordinates used to describe multi-body systems, as well as the most common and useful methods used in kinematic and dynamic analyses. The first chapters introduce basic techniques essential to a further study of the literature. The book contains many original developments due to the authors and their research teams. The emphasis is on clarity of presentation, computational efficiency and simplicity of the formulations. Each chapter contains many worked examples as well as problems and computer exercises. The book concludes with a compendium of recent developments in the field.   
FROM THE REVIEWS:   
MATHEMATICAL REVIEWS: "The book under review presents a comprehensive treatment of all aspects of modeling and numerical analysis of multibody systems. It contains many illustrations and examples and is suitable as a textbook for one or two graduate courses in multibody dynamics."  

From the Preface:  
The purpose of this book is to describe not only the commonly used methods
for multibody kinematic and dynamic simulation, but also the advanced topics
and the state of the art techniques. These include numerical methods and improved
dynamic formulations that allow real-time simulation response. The real time response
in multibody simulation is a characteristic that the engineering profession
is demanding more and more for analysis and design purposes. The analyst and
designer are interested in visualizing a whole set of successive responses of a
multibody in real time under different conditions, so as to get a clear picture of
the actual performance of the system that will help them to optimize the design process.
The main features that characterize this book and distinguish it from other texts are:
a) The use of the natural or fully Cartesian coordinates which allow for a
simple representation of multibodies, and lead to important advantages for
kinematic and dynamic simulation.
b) The consideration of advanced topics such as: friction, backlash, forward and
inverse dynamics of flexible multibodies, sensitivity analysis, and others.
c) The detailed description of numerical methods and improved dynamic formulations
that allow real time simulation response.
The first part of the book contains a description of the basic approaches and
methods for kinematic and dynamic analyses. Chapter 1 serves as an introduction
where the basic concepts and definitions are explained, the different types of problems
identified, and the general ways they may be solved are outlined. Chapter 2
describes the types of coordinates commonly used for the analysis of multibody
systems. Emphasis is placed on the fully Cartesian coordinates for 2- and 3-dimensional
systems which are treated thoroughly along with the types of constraint
conditions that they generate for different kinematic pairs. Chapter 3 deals
with kinematic analysis. The solution of problems such as initial position, finite
displacements, finding of the velocities and accelerations, treatment of redundant
constraints (over constrained systems), and the study of the Jacobian nullspace
that contains the possible motions are thoroughly exposed in this chapter.
Dynamic analysis starts in Chapter 4 with the formulation of the inertia forces
(mass matrices) generated by the different kind of bodies, and the external and
gravitational forces. Chapter 5 continues with a detailed description of the different
methods currently available for the dynamic analysis. Special attention is
given to the description of the methods in both dependent and independent coordinates,
and those based on velocity transformations. Chapter 6 deals with the analysis
static equilibrium position and the inverse dynamic problem.
The more advanced topics are dealt with in the second part initiated in Chapter
7 which describes the numerical integration of the resultant equations of motion.
Attention is given to the methods available for the solution of nonlinear ordinary
differential equations and differential-algebraic equations, and emphasis is placed
not only on accuracy but on stability for real time simulation. Improved dynamic
formulations of order O(N) and O(N3) such as recursive formalisms, improved
use of velocity transformations, and some particular implementations of the
penalty formulations in dependent coordinates are dealt with in Chapter 8.
Emphasis is placed on the real time simulation from the viewpoint of versatility,
generality, ease of implementation and possibilities of parallelization. The linearized
dynamic analysis is treated in Chapter 9. Chapter 10 deals with further
topics such as backlash, Coulomb friction, impacts, singular positions, kinematic
synthesis, and sensitivity analysis. Some of these topics offer open areas
for further research. Chapter 11 covers the forward dynamic analysis (simulation
problem) of multibodies with flexible elements. The formulations that arise from
the use of moving reference frames as well as inertial frames that require large
displacements and rotation elastic theories are explained in detail. Chapter 12
deals with the newly developed inverse dynamics of flexible multibodies that
leads to the time anticipatory joint efforts capable of reproducing a specified
endpoint trajectory.
The aims of the book are twofold: educational and tutorial on the one hand, and a
state of the art compilation of techniques and results on the other. The basic ideas
are presented in sufficient detail in the first part of the book which can be used either
as a textbook for an undergraduate elective course or basic graduate class on
computer aided kinematic and dynamic analysis of mechanical systems, or as a
self-study tool for the newcomer. The more advanced topics presented in the second
part of the book are aimed at both the graduate student and researcher, who
will find a compendium of state of the art information and a number of areas
identified for further research. This part may be of interest not only to the
mechanical, biomedical, or aerospace engineer, but also to people in other fields
such as the numerical analyst, computer scientist, and even the software
developer with interest in the computational aspects on the analysis of multibody systems.
All chapters include solved examples. Problem assignments can be found in addition at
the end of each chapter of the first part of the book. Finally, the book requires
only a minimal amount of background in physics and mathematics that does not
exceed the basics known by undergraduate junior students in science and
engineering in both American and European universities.                   下载链接:RAR:4.00 Mb / PDF:4.43 Mb
Errata page added at the back of the book,just before the back cover
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