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Forward And Inverse Dynamics Of Flexible Multibody Systems
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Author :Javier Garcia de Jalon Publisher :Springer Science & Business Media ISBN 13 :1461226007 Total Pages :456 pages Book Rating :4.4/5 (612 download)
Book Synopsis Kinematic and Dynamic Simulation of Multibody Systems by : Javier Garcia de Jalon
Download or read book Kinematic and Dynamic Simulation of Multibody Systems written by Javier Garcia de Jalon and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.
Book Synopsis Robot and Multibody Dynamics by : Abhinandan Jain
Download or read book Robot and Multibody Dynamics written by Abhinandan Jain and published by Springer Science & Business Media. This book was released on 2010-12-17 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Dynamics of Rigid-Flexible Robots and Multibody Systems by : Paramanand Vivekanand Nandihal
Download or read book Dynamics of Rigid-Flexible Robots and Multibody Systems written by Paramanand Vivekanand Nandihal and published by Springer Nature. This book was released on 2021-11-28 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the dynamic analysis of rigid-flexible robots and multibody systems with serial as well as closed-loop architecture. The book presents a formulation of dynamic model of rigid-flexible robots based on the unique approach of de-coupling of natural orthogonal complements of velocity constraints. Based on this formulation, a computationally efficient and numerically stable forward dynamics algorithms for serial-chain and closed-loop robotic systems with rigid or flexible or rigid-flexible links is presented. The proposed algorithm is shown to be a numerically efficient for forward dynamics based on the investigation methodologies built on eigen value analytics. Precision and functionality of the simulation algorithms is presented/illustrated with application on different serial and closed-loop systems (both planar and spatial types). Some of the major robotic arms used to illustrate the proposed dynamic formulation and simulation algorithms are PUMA robot, Stanford robot arm, and Canadarm. It is envisaged that the book will be useful for researchers working on the development of rigid-flexible robots for use in defense, space, atomic energy, ocean exploration, and the manufacturing of biomedical equipment.
Book Synopsis IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation by : Evtim Zahariev
Download or read book IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation written by Evtim Zahariev and published by Springer. This book was released on 2019-01-09 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.
Book Synopsis Fundamentals of Multibody Dynamics by : Farid Amirouche
Download or read book Fundamentals of Multibody Dynamics written by Farid Amirouche and published by Springer Science & Business Media. This book was released on 2007-05-24 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.
Book Synopsis Dynamics of Multibody Systems by : Ahmed A. Shabana
Download or read book Dynamics of Multibody Systems written by Ahmed A. Shabana and published by Cambridge University Press. This book was released on 2013-09-02 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations by : Ströhle, Timo
Download or read book Inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations written by Ströhle, Timo and published by KIT Scientific Publishing. This book was released on 2024-02-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fourth NASA Workshop on Computational Control of Flexible Aerospace Systems, Part 2 by :
Download or read book Fourth NASA Workshop on Computational Control of Flexible Aerospace Systems, Part 2 written by and published by . This book was released on 1991 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamics of Underactuated Multibody Systems by : Robert Seifried
Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Book Synopsis Rigid Body Dynamics Algorithms by : Roy Featherstone
Download or read book Rigid Body Dynamics Algorithms written by Roy Featherstone and published by Springer. This book was released on 2014-11-10 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Book Synopsis Large Space Structures & Systems in the Space Station Era by :
Download or read book Large Space Structures & Systems in the Space Station Era written by and published by . This book was released on 1993 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of the National Conference on Advanced Manufacturing & Robotics, January 10-11, 2004 by : S. N. Shome
Download or read book Proceedings of the National Conference on Advanced Manufacturing & Robotics, January 10-11, 2004 written by S. N. Shome and published by Allied Publishers. This book was released on 2004 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contributed papers presented at the conference held at Central Mechanical Engineering Research Institute, Durgapur.
Book Synopsis Large Space Structures & Systems in the Space Station Era by :
Download or read book Large Space Structures & Systems in the Space Station Era written by and published by . This book was released on 1993 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Selected Topics in Structronics and Mechatronic Systems by : Alexander Belyaev
Download or read book Selected Topics in Structronics and Mechatronic Systems written by Alexander Belyaev and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past twenty years, the scientific community has witnessed a technological revolution in products and processes, from consumer goods to factory automation systems. This revolution is based on the integration, right from the design phase, of the best that current technology can offer in electronics, control systems, computers, structures and mechanics. The terms that have emerged, for the synergetic approach to design, and integration of sensors, actuators, computers, structures and mechanics, are OC structronicsOCO and OC mechatronicsOCO. Structronics can be viewed as an integration of mechatronic systems into structures, which emphasizes a synergistic integration beginning at fertilization. Similar to mechatronics (established in the 1980s), structronics is recognized as one of the essential technologies in the 21st century. This comprehensive reference book gives an overview of the current state of structronics and mechatronics in both structural/mechanical and material systems. Consisting of nine self-contained chapters, it presents recent developments and covers emerging topics in the field. The key features include: . OCo treatment of the nonholonomic variables in robotics. OCo attenuation of fluid flow pulsation in hydraulic systems. OCo presentation of mathematical modeling and experiments on complex nonlinear dynamics of washing machines. OCo a survey of research findings in hydraulic gap control of rolling mills. OCo detailed description of mathematical modeling and nonlinear control of a temper controlling mill. OCo applications of high frequency dynamics in engineering structures. OCo development of novel computational methods to include plasticity and damage in flexible multibody systems. OCo new trends in optimal design of engineering structures. OCo a review of ionic polymer metal composites (IPMCs) as sensors, actuators and artificial muscles. Selected Topics in Structronics and Mechatronic Systems will be of interest to engineers, materials scientists, physicists and applied mathematicians. Contents: On the Use of Nonholonomic Variables in Robotics (H Bremer); Compensators for the Attenuation of Fluid Flow Pulsations in Hydraulic Systems (J Mikota); Some Aspects of Washing Complex Nonlinear Dynamics (M BolteAcentsar); Analysis and Nonlinear Control of Hydraulic Systems in Rolling Mills (R M Novak); Mathematical Modeling and Nonlinear Control of a Temper Rolling Mill (S Fuchshumer et al.); Combining Continuous and Discrete Energy Approaches to High Frequency Dynamics of Structures (A K Belyaev); Computational Methods for Elasto-Plastic Multibody Systems (J Gerstmayr); New Trends in Optimal Structural Control (K G Arvanitis et al.); Ionic PolymerOCoConductor Composites (IPCC) as Biomimietic Sensors, Actuators and Artificial Muscles (M Shahinpoor & A Guran). Readership: Engineers, materials scientists, physicists and applied mathematicians."
Book Synopsis Selected Topics In Structronics & Mechatronic Systems by : Alexander K Belyaev
Download or read book Selected Topics In Structronics & Mechatronic Systems written by Alexander K Belyaev and published by World Scientific. This book was released on 2003-08-12 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past twenty years, the scientific community has witnessed a technological revolution in products and processes, from consumer goods to factory automation systems. This revolution is based on the integration, right from the design phase, of the best that current technology can offer in electronics, control systems, computers, structures and mechanics. The terms that have emerged, for the synergetic approach to design, and integration of sensors, actuators, computers, structures and mechanics, are “structronics” and “mechatronics”. Structronics can be viewed as an integration of mechatronic systems into structures, which emphasizes a synergistic integration beginning at fertilization. Similar to mechatronics (established in the 1980s), structronics is recognized as one of the essential technologies in the 21st century.This comprehensive reference book gives an overview of the current state of structronics and mechatronics in both structural/mechanical and material systems. Consisting of nine self-contained chapters, it presents recent developments and covers emerging topics in the field.The key features include:• treatment of the nonholonomic variables in robotics• attenuation of fluid flow pulsation in hydraulic systems• presentation of mathematical modeling and experiments on complex nonlinear dynamics of washing machines• a survey of research findings in hydraulic gap control of rolling mills• detailed description of mathematical modeling and nonlinear control of a temper controlling mill• applications of high frequency dynamics in engineering structures• development of novel computational methods to include plasticity and damage in flexible multibody systems• new trends in optimal design of engineering structures• a review of ionic polymer metal composites (IPMCs) as sensors, actuators and artificial musclesSelected Topics in Structronics and Mechatronic Systems will be of interest to engineers, materials scientists, physicists and applied mathematicians.
Book Synopsis Multibody Dynamics 2019 by : Andrés Kecskeméthy
Download or read book Multibody Dynamics 2019 written by Andrés Kecskeméthy and published by Springer. This book was released on 2019-06-28 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.
