Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems
Cambridge University Press, 4/15/2013
EAN 9780521761093, ISBN10: 0521761093
Hardcover, 344 pages, 25.3 x 17.7 x 2.5 cm
Language: English
This book is an integrated approach to kinematic and dynamic analysis. The matrix techniques presented are general and fully applicable to two- or three-dimensional systems. They lend themselves to programming and digital computation and can act as the basis of a usable tool for designers. Techniques have broad applicability to the design analysis of all multibody mechanical systems. The more powerful and more flexible the approach, and the less specialisation and reprogramming required for each application, the better. The matrix methods presented have been developed using these ideas as primary goals. Matrix methods can be applied by hand to such problems as the slider-crank mechanism, but this is not the intent of this text, and often the rigor required for such an attempt becomes quite burdensome in comparison with other techniques. The matrix methods have been extensively tested, both in the classroom and in the world of engineering industry.
1. Concepts and definitions
2. Topology and kinematic architecture
3. Transformation matrices in kinematics
4. Modeling mechanisms and multibody systems with transformation matrices
5. Position analysis by kinematic equations
6. Differential kinematics and numeric solution of posture equations
7. Velocity analysis
8. Acceleration analysis
9. Modeling dynamic aspects of mechanisms and multibody systems
10. Dynamic equations of motion
11. Linearized equations of motion
12. Equilibrium position analysis
13. Frequency response of mechanisms and multibody systems
14. Time response of mechanisms and multibody systems
15. Collision detection
16. Impact analysis
17. Constraint force analysis.