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Concepts and Formulations for Spatial Multibody Dynamics (Paperback, 2015 ed.)
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Concepts and Formulations for Spatial Multibody Dynamics (Paperback, 2015 ed.)
Series: SpringerBriefs in Applied Sciences and Technology
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This book will be particularly useful to those interested in
multibody simulation (MBS) and the formulation for the dynamics of
spatial multibody systems. The main types of coordinates that can
be used in the formulation of the equations of motion of
constrained multibody systems are described. The multibody system,
made of interconnected bodies that undergo large displacements and
rotations, is fully defined. Readers will discover how Cartesian
coordinates and Euler parameters are utilized and are the
supporting structure for all methodologies and dynamic analysis,
developed within the multibody systems methodologies. The work also
covers the constraint equations associated with the basic kinematic
joints, as well as those related to the constraints between two
vectors. The formulation of multibody systems adopted here uses the
generalized coordinates and the Newton-Euler approach to derive the
equations of motion. This formulation results in the establishment
of a mixed set of differential and algebraic equations, which are
solved in order to predict the dynamic behavior of multibody
systems. This approach is very straightforward in terms of
assembling the equations of motion and providing all joint reaction
forces. The demonstrative examples and discussions of applications
are particularly valuable aspects of this book, which builds the
reader's understanding of fundamental concepts.
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