Dynamics of Multibody Systems

ISBN-13: 9783540739135 / Angielski / Twarda / 2007 / 240 str.

Jens Wittenburg

Opis

Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks."

Recenzje

From the reviews of the second edition:

"This is the second edition of a book published thirty years ago ... . The first edition had a success and has been used as a textbook in advanced courses of analytical mechanics. The book has six chapters. ... This book can be used by mechanical engineers, scientists and graduate students." (Irina Alexandrovna Bolgrabskaya, Zentralblatt MATH, Vol. 1131 (9), 2008)

"This book is the second edition of the 1977 Dynamics of Systems of Rigid Bodies ... . This text is a classical and complete book on rigid multibody dynamics. ... The book is precise in notation and clear in presentation. ... this classical textbook in multibody dynamics is an excellent reference, containing valuable material for graduate students and researchers. ... I believe that the book can easily be used as a text for a graduate course on the dynamics of rigid multibody systems." (Arend L. Schwab, IEEE Control Systems Magazine, October, 2008)

Spis treści

Mathematical Notation.- Rigid Body Kinematics.- Basic Principles of Rigid Body Dynamics.- Classical Problems of Rigid Body Mechanics.- General Multibody Systems.- Impact Problems in Multibody Systems.

O autorze

Prof. Wittenburg was Professor for Mechanics at University of Karlsruhe. He is still active in research and has been invited to give lectures all over the world.

Blurb

Multibody systems investigated in the book are composed of rigid bodies. The bodies are interconnected in an arbitrary configuration by joints and force elements of arbitrary nature. Typical examples of multibody systems are linkages in machines, vehicles and industrial robots.

A characteristic feature of the formalism presented is the application of graph-theoretical concepts. The interconnection structure of a multibody system is mapped onto a graph whose vertices and arcs represent bodies and interconnections of bodies, respectively. Codes based on the formalism have found important applications in the automotive industry and in other branches of engineering.

Special systems investigated in the book are systems with tree-structure, systems with revolute joints only, systems with spherical joints only, systems with nonholonomic constraints and systems in planar motion. By applying the said concepts of graph theory to linear oscillators new formulations are found for mass-, damping and stiffness matrices. A separate chapter is devoted to the problem of collision of a multibody system either with another multibody system or with itself.

Introductory chapters deal with basic elements of rigid body kinematics and dynamics. A short chapter is devoted to classical, analytically soluable problems of rigid body dynamics.

This book is addressed to graduate students and to R & D engineers.