Constrained dynamics computations : models and case studies / Bud Fox, Les S. Jennings, Albert Y. Zomaya.

Format:

Book

Author/Creator:

Fox, Bud.

Contributor:

Jennings, Leslie S. (Leslie Stephen)

Zomaya, Albert Y.

Series:

World Scientific series in robotics and intelligent systems ; v. 16.

World Scientific series in robotics and intelligent systems ; vol. 16

Language:

English

Subjects (All):

Constraints (Physics)--Mathematical models.

Constraints (Physics).

Physics--Methodology.

Physics.

Physical Description:

1 online resource (191 p.)

Place of Publication:

Singapore ; River Edge, NJ : World Scientific, c2000.

Language Note:

English

Summary:

This book introduces a practical approach to the modelling and computation of real-world systems. Multibody dynamics, planar and spatial modelling, and numerical methods are all pursued to obtain information about the behaviour of various dynamical systems. Each study presents the method of modelling and the ensuing differential equations governing the system behaviour. Integration of the equations yields results which are carefully discussed and which indicate how useful information may be obtained from the study. The studies include planar mechanisms, heavy equipment, automobile crash simulation and a spatial planetary system example. Research students, scientists and engineers will appreciate the practical approach taken in this book.

Contents:

CONTENTS; PREFACE; Acknowledgments; ABBREVIATIONS; NOMENCLATURE; GREEK; LIST OF FIGURES; LIST OF TABLES; CHAPTER 1 OVERVIEW; 1.1 INTRODUCTION; 1.2 MULTIBODY DYNAMICS; 1.2.1 Examples Of Multibody Systems; 1.2.2 Generalized Coordinates; 1.2.3 System Topology and Configuration; 1.2.4 Dynamic Formulation; 1.2.5 Dynamic Systems Software; 1.3 NUMERICAL METHODS; 1.4 MOTIVATION FOR THIS WORK; 1.5 CONTRIBUTION OF THIS WORK; 1.6 STRUCTURE OF THIS WORK; CHAPTER 2 PLANAR MODELLING; 2.1 INTRODUCTION; 2.2 MULTIBODY SYSTEM DESCRIPTION; 2.3 THE PRINCIPLE OF VIRTUAL WORK; 2.4 THE LAGRANGE EQUATIONS

2.5 SYSTEM EQUATIONS2.6 LAGRANGE MULTIPLIERS; 2.7 AUGMENTED FORMULATION; 2.8 JOINT TYPES; 2.8.1 Revolute Joint; 2.8.2 Prismatic Joint; 2.9 FORCE MODELLING; 2.9.1 Spring-Damper-Actuator Force Element; 2.9.2 Torsional Spring-Damper Force Element; 2.9.3 Contact Forces; 2.10 SUMMARY; CHAPTER 3 NUMERICAL METHODS; 3.1 INTRODUCTION; 3.2 DIFFERENTIAL ALGEBRAIC EQUATIONS; 3.2.1 General Perspective; 3.2.2 Types of DAEs; 3.2.3 DAE Considered in Multibody Modelling; 3.3 NUMERICAL INTEGRATION; 3.3.1 Single-Step Methods; 3.3.1.1 Euler's Method; 3.3.1.2 Taylor Series Methods; 3.3.1.3 Runge-Kutta Methods

3.3.2 Multistep Methods3.4 PROJECT SOFTWARE; 3.5 SUMMARY; CHAPTER 4 PLANAR MULTIBODY SYSTEMS; 4.1 INTRODUCTION; 4.2 INTRODUCTORY PLANAR SYSTEMS; 4.2.1 Slider Crank Mechanism; 4.2.1.1 Newton-Euler Equations; 4.2.1.2 The Equations of Motion; 4.2.1.3 Animation and Graphs; 4.2.2 Arbitrary Length Pendulum; 4.2.3 Arbitrary Length Train; 4.2.4 Aircraft Towing Truck; 4.2.5 Off-highway Recreational Vehicle; 4.3 SUMMARY; CHAPTER 5 OFF-HIGHWAY TRACK VEHICLE; 5.1 INTRODUCTION; 5.2 CATERPILLAR SYSTEM MODELLING; 5.2.1 Track-Roller Contact Force Model; 5.2.2 Track-Idler Contact Force Model

5.2.3 Track-Sprocket Contact Force Model5.2.3.1 Surface-Tooth Transformation; 5.2.3.2 Tooth-Sprocket Transformation; 5.2.3.3 Sprocket-Global Transformation; 5.2.4 Track-Ground Contact Force Model; 5.3 RESULTS; 5.4 SUMMARY; CHAPTER 6 AUTOMOBILE CRASH SYSTEM; 6.1 INTRODUCTION; 6.2 SIMPLIFIED BODY CLUSTER MODEL; 6.2.1 Body Seat Contact Force Model; 6.2.2 Result Reproduction; 6.2.3 Foot Floor Contact Force Model; 6.2.4 Seat Belt Contact Force Model; 6.2.5 Muscle-Skeletal Joint Restoring Torque Model; 6.2.6 Simplified Body Cluster Model Constraint Equations; 6.3 VERTEBRAL BODY MODEL

6.3.1 Muscle-Skeletal Shoulder Connection Model6.3.2 Vertebral Body Model Constraint Equations; 6.4 RESULTS; 6.4.1 Result Generation; 6.5 SUMMARY; CHAPTER 7 SPATIAL MODELLING; 7.1 INTRODUCTION; 7.2 GENERALIZED COORDINATES AND THE ROTATION MATRIX; 7.3 KINETIC ENERGY; 7.4 THE LAGRANGE EQUATIONS; 7.5 GENERAL SYSTEM EQUATIONS; 7.6 FORCE MODELLING; 7.7 JOINT TYPES; 7.8 SUMMARY; CHAPTER 8 SPATIAL PLANETARY SYSTEM; 8.1 INTRODUCTION; 8.2 SPHERICAL ASTRONOMY; 8.2.1 Coordinate Systems; 8.2.2 System Forces; 8.3 RESULTS; 8.4 SUMMARY; CHAPTER 9 CONCLUSIONS AND FUTURE DIRECTIONS; 9.1 INTRODUCTION

9.2 SUMMARY OF RESULTS

Notes:

Description based upon print version of record.

Includes bibliographical references (p. [144]-156) and index.

ISBN:

9786611934125

9781281934123

1281934127

9789812792532

9812792538

OCLC:

666960672