This monograph presents an introduction into basic mechanical
aspects of mechatronic systems for students, researchers and
engineers from industrial practice. An overview over the
theoretical background of rigid body mechanics is given as well as
a systematic approach for deriving and solving model equations of
general rigid body mechanisms in the form of differential-algebraic
equations (DAE). The objective of this book is to prepare the
reader for being capable of efficiently handling and applying
general purpose rigid body programs to complex mechanisms. The
reader will be able to set up symbolic mathematical models of
planar and spatial mechanisms in DAE-form for computer simulations,
often required in dynamic analysis and in control design.
General
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