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| Preface | |
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| Author | |
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| Introduction | |
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| Multibody Mechanical Systems | |
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| Types of Analyses | |
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| Methods of Formulation | |
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| Computer Programming | |
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| Matlab | |
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| Application Examples | |
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| Double A-Arm Suspension | |
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| MacPherson Strut Suspension | |
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| Film-Advancer Mechanism | |
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| Web-Cutter | |
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| Variable-Length Pendulum | |
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| Unit System | |
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| Remarks | |
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| Preliminaries | |
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| Reference Axes | |
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| Scalars and Vectors | |
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| Arrays | |
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| Matrices | |
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| Matrix Operations | |
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| Vector, Array, and Matrix Differentiation | |
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| Time Derivatives | |
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| Partial Derivatives | |
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| Equations and Expressions | |
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| Compact and Expanded Forms | |
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| Remarks | |
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| Problems | |
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| Fundamentals of Kinematics | |
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| A Particle | |
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| Kinematics of a Particle | |
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| Kinematics of a Rigid Body | |
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| Coordinates of a Body | |
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| Velocity of a Body | |
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| Acceleration of a Body | |
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| Definitions | |
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| Array of Coordinates | |
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| Degrees of Freedom | |
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| Constraint Equations | |
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| Kinematic Joints | |
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| Remarks | |
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| Problems | |
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| Fundamentals of Dynamics | |
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| Newton's Laws of Motion | |
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| Dynamics of a Particle | |
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| Dynamics of a System of Particles | |
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| Dynamics of a Body | |
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| Moment of a Force | |
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| Centroidal Equations of Motion | |
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| Noncentroidal Equations of Motion | |
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| Force Elements | |
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| Applied Forces | |
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| Gravitational Force | |
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| Point-to-Point Actuator | |
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| Point-to-Point Spring | |
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| Point-to-Point Damper | |
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| Combined Elements | |
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| Rotational Elements | |
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| Viscous Friction | |
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| Reaction Force | |
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| Newton's Third Law | |
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| Method of Lagrange Multipliers | |
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| Coulomb Friction | |
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| Remarks | |
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| Problems | |
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| Point-Coordinates: Kinematics | |
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| Multipoint Representation | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Filmstrip Advancer | |
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| Stationary and Primary Points | |
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| Constraints | |
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| Length Constraint | |
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| Angle Constraints | |
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| Simple Constraints | |
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| Velocity and Acceleration Constraints | |
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| Secondary Points | |
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| Example Programs | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Filmstrip Advancer | |
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| Remarks | |
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| Problems | |
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| Point-Coordinates: Dynamics | |
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| System of Unconstrained Particles | |
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| A Two-Particle System | |
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| Unconstrained Particles-General | |
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| System of Constrained Particles | |
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| A Two-Particle System | |
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| MacPherson Suspension | |
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| Constrained Particles-General | |
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| Force and Mass Distribution | |
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| Two Primary Points | |
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| Three Primary Points | |
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| Mass Collection | |
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| Double A-Arm Suspension | |
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| Exact Mass Distribution | |
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| Two Primary Points | |
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| Three Primary Points | |
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| Mass Addition | |
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| Remarks | |
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| Problems | |
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| Body-Coordinates: Kinematics | |
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| General Procedure | |
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| Kinematic Joints | |
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| Revolute (Pin) Joint | |
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| Translational (Sliding) Joint | |
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| Revolute-Revolute Joint | |
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| Revolute-Translational Joint | |
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| Rigid Joint | |
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| Simple Constraints | |
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| Examples | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Filmstrip Advancer | |
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| Velocity and Acceleration Constraints | |
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| Revolute Joint | |
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| Translational Joint | |
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| Revolute-Revolute Joint | |
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| Revolute-Translational Joint | |
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| Simple Constraints | |
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| System Jacobian | |
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| Programming Note | |
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| Common Scripts | |
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| Example Programs | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Filmstrip Advancer | |
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| Variable-Length Pendulum | |
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| Other Types of Joints | |
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| Remarks | |
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| Problems | |
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| Body-Coordinates: Dynamics | |
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| System of Unconstrained Bodies | |
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| A Two-Body System | |
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| Unconstrained Bodies-General | |
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| System of Constrained Bodies | |
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| Constrained Bodies-General | |
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| A Two-Body System | |
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| Reaction Forces | |
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| Example Programs | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Variable-Length Pendulum | |
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| Remarks | |
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| Problems | |
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| Joint-Coordinates: Kinematics | |
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| Vector-Loop Method | |
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| Joint Coordinate Method | |
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| Open-Chain Systems | |
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| Variable-Length Pendulum | |
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| A Three-Body System | |
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| A Floating System | |
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| General Formulation | |
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| Open-Chain Example Programs | |
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| Variable-Length Pendulum | |
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| Closed-Chain Systems | |
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| Slider-Crank Mechanism | |
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| General Formulation | |
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| Closed-Chain Example Programs | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Filmstrip Advancer | |
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| Remarks | |
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| Problems | |
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| Joint-Coordinates: Dynamics | |
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| Open-Chain Systems | |
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| Variable-Length Pendulum | |
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| Open-Chain Example Program | |
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| Closed-Chain Systems | |
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| Closed-Chain Example Programs | |
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| Double A-Arm Suspension | |
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| MacPherson Suspension | |
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| Remarks | |
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| Problems | |
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| Kinematic Analysis | |
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| Unconstrained Formulation | |
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| Constrained Formulation | |
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| Driver Constraints | |
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| Solution Procedures | |
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| Coordinate Partitioning Method | |
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| Appended Constraint Method | |
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| Linear Algebraic Equations | |
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| Nonlinear Algebraic Equations | |
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| Newton-Raphson Method for One Equation in One Unknown | |
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| Newton-Raphson Method for n Equations in n Unknowns | |
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| Body Coordinate Formulation | |
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| Filmstrip Advancer | |
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| Web-Cutter | |
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| Point Coordinate Formulation | |
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| Filmstrip Advancer | |
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| Joint Coordinate Advancer | |
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| Filmstrip Advancer | |
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| Remarks | |
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| Problems | |
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| Inverse Dynamic Analysis | |
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| Unconstrained Formulation | |
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| General Procedure | |
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| Constrained Formulation | |
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| General Procedure | |
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| Different Jacobian Matrices | |
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| Body Coordinate Formulation | |
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| Filmstrip Advancer | |
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| Web-Cutter | |
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| Point Coordinate Formulation | |
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| Filmstrip Advancer | |
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| Joint Coordinate Formulation | |
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| Remarks | |
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| Problems | |
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| Forward Dynamic Analysis | |
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| Unconstrained Formulation | |
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| Initial-Value Problems | |
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| Runge-Kutta Algorithms | |
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| Variable Step Size | |
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| General Procedure | |
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| Constrained Formulation | |
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| Initial Conditions | |
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| General Procedure | |
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| Body Coordinate Formulation | |
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| Double A-Arm Suspension | |
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| Joint Coordinate Formulation | |
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| Variable-Length Pendulum | |
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| Point Coordinate Formulation | |
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| Constraint Violation | |
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| Constraint Violation Stabilization Method | |
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| Coordinate Partitioning Method | |
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| Remarks | |
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| Problems | |
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| Complementary Analyses | |
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| Static Analysis | |
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| Static Equilibrium | |
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| Initial Condition Correction | |
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| Body-Coordinate Formulation | |
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| Three Combined Analyses by Integration | |
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| Redundant Constraints | |
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| Friction | |
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| Deformable Body | |
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| Remarks | |
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| Problems | |
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| Projects | |
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| Windshield Wiper Mechanism | |
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| Internal Combustion Engine | |
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| Sled Test and Belted Dummy | |
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| Head and Neck | |
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| Mountain Bike | |
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| Motorcycle | |
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| Elliptical Exercise Machine | |
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| Swing | |
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| Mass Center and Moment of Inertia | |
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| References | |
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| Index | |