Planar Multibody Dynamics: Formulation, Programming, and Applications
Written by Parviz Nikravesh, one of the world’s best known experts in multibody dynamics, Planar Multibody Dynamics: Formulation, Programming, and Applications enhances the quality and ease of design education with extensive use of the latest computerized design tools combined with coverage of classical design and dynamics of machinery principles.\ Using language that is clear, concise, and to the point, the textbook introduces fundamental theories, computational methods, and program...
Search in google:
Written by Parviz Nikravesh, one of the world’s best known experts in multibody dynamics, Planar Multibody Dynamics: Formulation, Programming, and Applications enhances the quality and ease of design education with extensive use of the latest computerized design tools combined with coverage of classical design and dynamics of machinery principles. Using language that is clear, concise, and to the point, the textbook introduces fundamental theories, computational methods, and program development for analyzing simple to complex planar mechanical systems. The author chose MATLAB® as the programming language, and since students may not be skilled programmers, the examples and exercises provide a tutorial for learning MATLAB. The examples begin with basic commands before introducing students to more advanced programming techniques. The routines developed in each chapter eventually come together to form complete programs for different types of analysis. Pedagogical highlights Contains homework problems at the end of each chapter, some requiring standard pencil-and-paper solution in order to understand the concept and others requiring either programming or the use of existing programs. Electronic highlights All the programs that are listed in the book, and some additional programs, will be available for download and will be updated periodically by the author. Additional materials for instructors, such as a solutions manual and other teaching aids, will also be available on the website. The author organizes the analytical and computational subjects around practical application examples. He uses several examples repeatedly, in various chapters, providing students with a basis for comparison between different formulations. The final chapter describes more extensive modeling and simulation projects. Designed specifically for undergraduates, the book is suitable as a primary text for a course on mechanisms or a supplementary text for a course on dynamics.
PrefaceAuthorIntroduction 1Multibody Mechanical Systems 1Types of Analyses 2Methods of Formulation 3Computer Programming 9Matlab 10Application Examples 11Double A-Arm Suspension 12MacPherson Strut Suspension 13Film-Advancer Mechanism 16Web-Cutter 16Variable-Length Pendulum 16Unit System 19Remarks 20Preliminaries 21Reference Axes 21Scalars and Vectors 21Arrays 30Matrices 32Matrix Operations 33Vector, Array, and Matrix Differentiation 36Time Derivatives 36Partial Derivatives 38Equations and Expressions 41Compact and Expanded Forms 42Remarks 43Problems 43Fundamentals of Kinematics 47A Particle 47Kinematics of a Particle 47Kinematics of a Rigid Body 48Coordinates of a Body 49Velocity of a Body 54Acceleration of a Body 56Definitions 58Array of Coordinates 60Degrees of Freedom 61Constraint Equations 62Kinematic Joints 65Remarks 68Problems 68Fundamentals of Dynamics 73Newton's Laws of Motion 73Dynamics of a Particle 74Dynamics of a System of Particles 74Dynamics of a Body 78Moment of a Force 79Centroidal Equations of Motion 80Noncentroidal Equations of Motion 85Force Elements 88Applied Forces 90Gravitational Force 90Point-to-Point Actuator 90Point-to-Point Spring 91Point-to-Point Damper 92Combined Elements 92Rotational Elements 95Viscous Friction 96Reaction Force 97Newton's Third Law 98Method of Lagrange Multipliers 99Coulomb Friction 99Remarks 100Problems 100Point-Coordinates: Kinematics 105Multipoint Representation 105Double A-Arm Suspension 107MacPherson Suspension 108Filmstrip Advancer 110Stationary and Primary Points 112Constraints 113Length Constraint 114Angle Constraints 114Simple Constraints 115Velocity and Acceleration Constraints 118Secondary Points 122Example Programs 126Double A-Arm Suspension 126MacPherson Suspension 130Filmstrip Advancer 133Remarks 134Problems 134Point-Coordinates: Dynamics 141System of Unconstrained Particles 141A Two-Particle System 141Unconstrained Particles-General 144System of Constrained Particles 144A Two-Particle System 145MacPherson Suspension 147Constrained Particles-General 149Force and Mass Distribution 151Two Primary Points 153Three Primary Points 156Mass Collection 158Double A-Arm Suspension 158Exact Mass Distribution 160Two Primary Points 161Three Primary Points 165Mass Addition 168Remarks 168Problems 168Body-Coordinates: Kinematics 177General Procedure 177Kinematic Joints 181Revolute (Pin) Joint 182Translational (Sliding) Joint 183Revolute-Revolute Joint 183Revolute-Translational Joint 184Rigid Joint 185Simple Constraints 187Examples 187Double A-Arm Suspension 188MacPherson Suspension 190Filmstrip Advancer 195Velocity and Acceleration Constraints 196Revolute Joint 198Translational Joint 200Revolute-Revolute Joint 201Revolute-Translational Joint 203Simple Constraints 204System Jacobian 204Programming Note 206Common Scripts 207Example Programs 211Double A-Arm Suspension 212MacPherson Suspension 216Filmstrip Advancer 221Variable-Length Pendulum 222Other Types of Joints 223Remarks 224Problems 224Body-Coordinates: Dynamics 233System of Unconstrained Bodies 233A Two-Body System 233Unconstrained Bodies-General 236System of Constrained Bodies 237Constrained Bodies-General 237A Two-Body System 239Reaction Forces 241Example Programs 246Double A-Arm Suspension 246MacPherson Suspension 247Variable-Length Pendulum 249Remarks 251Problems 252Joint-Coordinates: Kinematics 259Vector-Loop Method 259Joint Coordinate Method 261Open-Chain Systems 262Variable-Length Pendulum 264A Three-Body System 267A Floating System 269General Formulation 271Open-Chain Example Programs 272Variable-Length Pendulum 272Closed-Chain Systems 274Slider-Crank Mechanism 275General Formulation 277Closed-Chain Example Programs 278Double A-Arm Suspension 279MacPherson Suspension 283Filmstrip Advancer 290Remarks 290Problems 291Joint-Coordinates: Dynamics 297Open-Chain Systems 297Variable-Length Pendulum 298Open-Chain Example Program 300Closed-Chain Systems 300Closed-Chain Example Programs 302Double A-Arm Suspension 302MacPherson Suspension 302Remarks 303Problems 303Kinematic Analysis 305Unconstrained Formulation 305Constrained Formulation 306Driver Constraints 307Solution Procedures 309Coordinate Partitioning Method 310Appended Constraint Method 312Linear Algebraic Equations 314Nonlinear Algebraic Equations 317Newton-Raphson Method for One Equation in One Unknown 317Newton-Raphson Method for n Equations in n Unknowns 319Body Coordinate Formulation 321Filmstrip Advancer 323Web-Cutter 324Point Coordinate Formulation 327Filmstrip Advancer 328Joint Coordinate Advancer 329Filmstrip Advancer 330Remarks 331Problems 331Inverse Dynamic Analysis 339Unconstrained Formulation 339General Procedure 340Constrained Formulation 341General Procedure 342Different Jacobian Matrices 345Body Coordinate Formulation 346Filmstrip Advancer 347Web-Cutter 349Point Coordinate Formulation 350Filmstrip Advancer 350Joint Coordinate Formulation 350Remarks 351Problems 351Forward Dynamic Analysis 355Unconstrained Formulation 355Initial-Value Problems 356Runge-Kutta Algorithms 358Variable Step Size 360General Procedure 363Constrained Formulation 364Initial Conditions 366General Procedure 367Body Coordinate Formulation 369Double A-Arm Suspension 371Joint Coordinate Formulation 373Variable-Length Pendulum 375Point Coordinate Formulation 376Constraint Violation 376Constraint Violation Stabilization Method 376Coordinate Partitioning Method 379Remarks 382Problems 382Complementary Analyses 387Static Analysis 387Static Equilibrium 389Initial Condition Correction 392Body-Coordinate Formulation 396Three Combined Analyses by Integration 398Redundant Constraints 399Friction 400Deformable Body 403Remarks 405Problems 405Projects 409Windshield Wiper Mechanism 409Internal Combustion Engine 412Sled Test and Belted Dummy 414Head and Neck 418Mountain Bike 421Motorcycle 425Elliptical Exercise Machine 427Swing 429Mass Center and Moment of Inertia 433References 439Index 441
