Contact Force Models For Multibody Dynamics

Author: Paulo Flores
Publisher: Springer
ISBN: 3319308971
Size: 13.49 MB
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This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.

Dynamics Of Underactuated Multibody Systems

Author: Robert Seifried
Publisher: Springer Science & Business Media
ISBN: 3319012282
Size: 30.25 MB
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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.

Contact Mechanics And Friction

Author: Valentin L. Popov
Publisher: Springer
ISBN: 3662530813
Size: 76.44 MB
Format: PDF
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This application-oriented book introduces readers to the associations and relationships between contact mechanics and friction, providing them with a deeper understanding of tribology. It addresses the related phenomena of contacts, adhesion, capillary forces, friction, lubrication, and wear from a consistent point of view. The author presents (1) methods for rough estimates of tribological quantities, (2) simple and general methods for analytical calculations, and (3) the crossover into numerical simulation methods, the goal being to convey a consistent view of tribological processes at various scales of magnitude (from nanotribology to earthquake research). The book also explores the system dynamic aspects of tribological systems, such as squeal and its suppression, as well as other types of instabilities and spatial patterns. It includes problems and worked-out solutions for the respective chapters, giving readers ample opportunity to apply the theory to practical situations and to deepen their understanding of the material discussed. The second edition has been extended with a more detailed exposition of elastohydrodynamic lubrication, an updated chapter on numerical simulation methods in contact mechanics, a new section on fretting in the chapter on wear, as well as numerous new exercises and examples, which help to make the book an excellent reference guide.

Flexible Multibody Dynamics

Author: O. A. Bauchau
Publisher: Springer Science & Business Media
ISBN: 9789400703353
Size: 20.60 MB
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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

Author: Arun K. Banerjee
Publisher: John Wiley & Sons
ISBN: 1119015618
Size: 14.14 MB
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Arun K. Banerjee is one of the foremost experts in the world on the subject of flexible multibody dynamics. This book describes how to build mathermatical models of multibody systems with elastic components. Examples of such systems include the human body itself, construction cranes, cares with trailers, helicopers, spacecraft deploying antennas, tethered satellites, and underwater maneuvering vehicles. This book provides methods of analysis of complex mechanical systems that can be simulated in less computer time than other methods. It equips the reader with knowledge of algorithms that provide accurate results in reduced simulation time.

Advanced Dynamics

Author: Reza N. Jazar
Publisher: John Wiley & Sons
ISBN: 9780470892138
Size: 13.48 MB
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A thorough understanding of rigid body dynamics as it relates to modern mechanical and aerospace systems requires engineers to be well versed in a variety of disciplines. This book offers an all-encompassing view by interconnecting a multitude of key areas in the study of rigid body dynamics, including classical mechanics, spacecraft dynamics, and multibody dynamics. In a clear, straightforward style ideal for learners at any level, Advanced Dynamics builds a solid fundamental base by first providing an in-depth review of kinematics and basic dynamics before ultimately moving forward to tackle advanced subject areas such as rigid body and Lagrangian dynamics. In addition, Advanced Dynamics: Is the only book that bridges the gap between rigid body, multibody, and spacecraft dynamics for graduate students and specialists in mechanical and aerospace engineering Contains coverage of special applications that highlight the different aspects of dynamics and enhances understanding of advanced systems across all related disciplines Presents material using the author's own theory of differentiation in different coordinate frames, which allows for better understanding and application by students and professionals Both a refresher and a professional resource, Advanced Dynamics leads readers on a rewarding educational journey that will allow them to expand the scope of their engineering acumen as they apply a wide range of applications across many different engineering disciplines.

Advanced Design Of Mechanical Systems From Analysis To Optimization

Author: Jorge A.C. Ambrosio
Publisher: Springer Science & Business Media
ISBN: 3211994610
Size: 69.52 MB
Format: PDF, Kindle
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Multibody systems are used extensively in the investigation of mechanical systems including structural and non-structural applications. It can be argued that among all the areas in solid mechanics the methodologies and applications associated to multibody dynamics are those that provide an ideal framework to aggregate d- ferent disciplines. This idea is clearly reflected, e. g. , in the multidisciplinary applications in biomechanics that use multibody dynamics to describe the motion of the biological entities, in finite elements where multibody dynamics provides - werful tools to describe large motion and kinematic restrictions between system components, in system control where the methodologies used in multibody dynamics are the prime form of describing the systems under analysis, or even in many - plications that involve fluid-structure interaction or aero elasticity. The development of industrial products or the development of analysis tools, using multibody dynamics methodologies, requires that the final result of the devel- ments are the best possible within some limitations, i. e. , they must be optimal. Furthermore, the performance of the developed systems must either be relatively insensitive to some of their design parameters or be sensitive in a controlled manner to other variables. Therefore, the sensitivity analysis of such systems is fundamental to support the decision making process. This book presents a broad range of tools for designing mechanical systems ranging from the kinematic and dynamic analysis of rigid and flexible multibody systems to their advanced optimization.

Dynamics Of Multibody Systems

Author: Ahmed A. Shabana
Publisher: Cambridge University Press
ISBN: 1107042658
Size: 64.12 MB
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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"--

Symbolic Modeling Of Multibody Systems

Author: J-C. Samin
Publisher: Springer Science & Business Media
ISBN: 940170287X
Size: 80.34 MB
Format: PDF, ePub
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Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz, the symbolic generation of most of the ingredients needed to set up the model. The symbolic approach chosen, specially dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

Body Contact

Author: Cathryn Fox
Publisher: Entangled: Scorched
ISBN: 1633757250
Size: 30.30 MB
Format: PDF
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Body Contact is the second of a three-part erotic series from New York Times and USA best-selling author Cathryn Fox. Asking pro football player Jack Rider to teach me everything he knows about sex might have seemed like a good idea at the time, but now I'm not so sure I can handle a guy like him. I thought he'd just straight up do me, ridding me of my pesky virginity sooner rather than later. But no, he had his own ideas about bringing me up to speed on sex. His two weeks of slow seduction might just be the death of me, but since he's the one in charge, I have to play the game his way. Not that I'm not enjoying it. I am. Who wouldn't, right? I guess I just can't help but wonder how I'll ever let another man touch me after him. This is the second of a three-part series full of mind-blowing sex, featuring a dirty-mouthed football player who knows the score and an inexperienced therapist who needs to learn it. BODY CONTACT is sure to leave readers begging for more. The next installment comes September 2016. The Hands On serial is best enjoyed in order. Reading Order: Book #1 Hands On Book #2 Body Contact Book #3 Full Exposure