Computational Methods in Mechanical Systems
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This meticulously edited collection of papers on the application of state-of-the-art computational methods to mechanical systems design is based on a NATO Advanced Research workshop held in 1997. Leading international experts treat the analysis, synthesis, optimization, and control of a broad spectrum of mechanical systems, including systems of rigid and flexible bodies that are the basic constituents of mechanisms and robotic devices, as well as multibody systems. Topics covered include kinematics, dynamics, and control of such systems, with special emphasis on modeling and simulation. The theoretical foundations of the underlying methods are covered as well as practical aspects of algorithm development, such as code parallelization and applications to specific areas.
Preface1The Application of Dual Algebra to Kinematic Analysis32Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanisms and Mechatronics Systems333The Design of Spherical 4R Linkages for Four Specified Orientations534On the Design of Efficient Parallel Mechanisms685Optimization of Multi-DOF Mechanisms976Computational Issues in the Kinematic Design of Tactile Sensing Fixtures1307Numerical Methods for Mechanism and Manipulator Workspace Analysis1448Equations of Motion in Tensor Variables and Their Application to Multibody Systems1679Efficient Description and Geometrical Interpretation of the Dynamics of Constrained Systems19710A Generic Numerical Method for Mechanical System Kinematics and Dynamics Modeling21211Implicit Integration of the Equations of Multibody Dynamics24212Models for Simulation of Power-Steering Systems26813Control of Robotic Systems by Exact Linearization29614Flexible Bodies in Multibody Systems32915Parallelization of Large Mechanical Engineering Codes. A Case Study for the Multibody Simulation Package FEDEM36416Flexible Multibody Dynamics with Nonlinear Deformations: Vehicle Dynamics and Crashworthiness Applications382Index421
