Computational Flexible Multibody Dynamics

by Bernd Simeon

Author	: Bernd Simeon
Publisher	: Springer Science & Business Media
Total Pages	: 254
Release	: 2013-06-14
Genre	: Mathematics
ISBN	: 3642351581

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This monograph, written from a numerical analysis perspective, aims to provide a comprehensive treatment of both the mathematical framework and the numerical methods for flexible multibody dynamics. Not only is this field permanently and rapidly growing, with various applications in aerospace engineering, biomechanics, robotics, and vehicle analysis, its foundations can also be built on reasonably established mathematical models. Regarding actual computations, great strides have been made over the last two decades, as sophisticated software packages are now capable of simulating highly complex structures with rigid and deformable components. The approach used in this book should benefit graduate students and scientists working in computational mechanics and related disciplines as well as those interested in time-dependent partial differential equations and heterogeneous problems with multiple time scales. Additionally, a number of open issues at the frontiers of research are addressed by taking a differential-algebraic approach and extending it to the notion of transient saddle point problems.

Flexible Multibody Dynamics

by O. A. Bauchau

Author	: O. A. Bauchau
Publisher	: Springer Science & Business Media
Total Pages	: 730
Release	: 2010-10-23
Genre	: Technology & Engineering
ISBN	: 940070335X

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The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations. This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.

Flexible Multibody Dynamics

by Michel Géradin

Author	: Michel Géradin
Publisher	: John Wiley & Sons
Total Pages	: 352
Release	: 2001-03-05
Genre	: Mathematics
ISBN	:

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Flexible Multibody Dynamics comprehensively describes the numerical modelling of flexible multibody dynamics systems in space and aircraft structures, vehicles, and mechanical systems. A rigorous approach is followed to handle finite rotations in 3D, with a thorough discussion of the different alternatives for parametrization. Modelling of flexible bodies is treated following the Finite Element technique, a novel aspect in multibody systems simulation. Moreover, this book provides extensive coverage of the formulation of a general purpose software for flexible multibody dynamics analysis, based on an exhaustive treatment of large rotations and finite element modelling, and incorporating useful reference material. Features include different solution techniques such as: * time integration of differential-algebraic equations * non-linear substructuring * continuation methods * nonlinear bifurcation analysis. In essence, this is an ideal text for senior undergraduates, postgraduates and professionals in mechanical and aeronautical engineering, as well as mechanical design engineers and researchers, and engineers working in areas such as kinematics and dynamics of deployable structures, vehicle dynamics and mechanical design.

Dynamics of Flexible Multibody Systems

by Edmund Wittbrodt

Author	: Edmund Wittbrodt
Publisher	: Springer Science & Business Media
Total Pages	: 229
Release	: 2007-04-17
Genre	: Technology & Engineering
ISBN	: 354032352X

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A new approach is presented in this book for modelling multi-body systems, which constitutes a substantial enhancement of the Rigid Finite Element method. The new approach is based on homogeneous transformations and joint coordinates. Apart from its simple physical interpretation and easy computer implementation, the method is also valuable for educational purposes since it impressively illustrates the impact of mechanical features on the mathematical model.

Dynamics of Multibody Systems

by Ahmed A. Shabana

Author	: Ahmed A. Shabana
Publisher	: Cambridge University Press
Total Pages	: 397
Release	: 2013-09-02
Genre	: Science
ISBN	: 1107435889

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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.

Fundamentals of Multibody Dynamics

by Farid Amirouche

Author	: Farid Amirouche
Publisher	: Springer Science & Business Media
Total Pages	: 692
Release	: 2007-05-24
Genre	: Technology & Engineering
ISBN	: 0817644067

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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.

Robot and Multibody Dynamics

by Abhinandan Jain

Author	: Abhinandan Jain
Publisher	: Springer Science & Business Media
Total Pages	: 512
Release	: 2010-12-17
Genre	: Technology & Engineering
ISBN	: 1441972676

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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.

Dynamics of Underactuated Multibody Systems

by Robert Seifried

Author	: Robert Seifried
Publisher	: Springer Science & Business Media
Total Pages	: 257
Release	: 2013-11-08
Genre	: Technology & Engineering
ISBN	: 3319012282

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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.

Virtual Nonlinear Multibody Systems

by Werner Schiehlen

Author	: Werner Schiehlen
Publisher	: Springer Science & Business Media
Total Pages	: 472
Release	: 2003-06-30
Genre	: Technology & Engineering
ISBN	: 9781402013393

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This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.