Newton-Euler Dynamics

ISBN-13: 9780387232751 / Angielski / Twarda / 2004 / 316 str.

Mark D. Ardema

Opis

Most books on this subject are designed for elective courses in "intermediate dynamics" covering advanced Newtonian and introductory Lagrangian methods. Such books do not give adequate emphasis to advanced topics in Newton-Euler dynamics. Because the first required course in dynamics usually concentrates on 2-D dynamics, important 3-D problems are left to a further course. Examples are robots, automated manufacturing devices, aerospace vehicles, and biomechanical components. This material cannot be covered adequately in one course if it is to be shared with an introduction to Langrangian methods. This text is devoted to application of Newton-Euler methods to complex, real-life 3-D dynamics problems; it essentially completes this topic.

Recenzje

From the reviews of the first edition:

"Ardema (Santa Clara Univ., California) is highly commended for the thorough, systematic, and concise approach in this book. He explains some of the very inextricable concepts clearly ... . The strength of the book lies in its coverage of a wide range of topics ... . Each chapter includes examples that are worked with sufficient detail, as well as plenty of challenging problems ... . This work is strongly recommended as a technical elective to undergraduates ... . Summing Up: Recommended. Upper-division undergraduates through professionals." (R.N. Laoulache, CHOICE, Vol. 42 (11), July, 2005)

"The subject of this book is the dynamics of rigid bodies. ... The book has grown out of an undergraduate engineering course on dynamics taught at Santa Clara University, California. ... the wealth of examples makes the book a useful source for a large class of readers. ... I think that even people who teach mechanics at a more sophisticated level, i.e. mathematics or physics students, could profit from taking a look at the examples in this book." (Volker Perlick, Zentralblatt MATH, Vol. 1087, 2006)

Spis treści

Preface 1: Introduction and Basic Concepts 1.1 Fundamental Definitions and Assumptions 1.2 Position, Velocity, and Acceleration of a Point 2: Review of Planar Kinematics 2.1 Plane Motion of a Point; Rectangular Components of Velocity and Acceleration 2.2 Example 2.3 Tangential - Normal Components 2.4 Example 2.5 Example 2.6 Radial - Transverse Components 2.7 Example 2.8 Angular Velocity 2.9 Relative Motion of Reference Frames 2.10 Relative Velocity and Acceleration 2.11 Example 2.12 Example Notes Problems 3: Coordinate Systems, Components, and Transformation 3.1 Rectangular Coordinates and Components 3.2 Intrinsic Components 3.3 Example 3.4 General Approach to Coordinate Systems and Components 3.5 Cylindrical Coordinates and Components 3.6 Example 3.7 Spherical Coordinates and Components 3.8 Coordinate Transformations 3.9 Examples Notes Problems 4: Relative Motion 4.1 Introductory Remarks 4.2 Euler’s Theorem 4.3 Finite Rotations 4.4 Infinitesimal Rotations and Angular Velocity and Acceleration 4.5 Example 4.6 Basic Kinematic Equation 4.7 Some Properties of Angular Velocity 4.8 Relative Velocity and Acceleration Equations 4.9 Composition Relations for Angular Velocities and Accelerations 4.10 Summary of Relative Motion 4.11 Example Notes Problems 5: Foundations of Kinetics 5.1 Newton’s Laws of Motion 5.2 Center of Mass 5.3 Example 5.4 Rigid Bodies 5.5 Example 5.6 Example 5.7 Rigid Body Motion 5.8 Proof That the Motion of a Rigid Body Is Specified By the Motion of Any Body-Fixed Frame 5.9 Proof That All Body-Fixed Frames Have the Same Angular Velocity 5.10 Gravitation 5.11 Degrees of Freedom and Holonomic Constraints Notes Problems 6: Kinetics of the Mass Center of a Rigid Body 6.1Equations of Motion, Two Dimensions 6.2 Example 6.3 Aircraft Equations of Motion in a Vertical Plane 6.4 Equations of Motion, Three Dimensions 6.5 Example 6.6 Motion in Inertial and Non-Inertial Frames 6.7 Example - Rotating Cylindrical Space Station 6.8 Inertial Frames of Reference 6.9 Motion Near the Surface of the Earth 6.10 Projectile Motion 6.11 Example - Large Scale Weather Patterns 6.12 Aircraft Equations of Motion for 3-D Flight Notes Problems 7: Angular Momentum and Inertia Matrix 7.1 Definition of Angular Momentum 7.2 Moments and Products of Inertia 7.3 Examples 7.4 Principal Axes and Principal Moments of Inertia 7.5 Example 7.6 Rotational Mass Symmetry 7.7 Relation Between Angular Momenta 7.8 Parallel Axis Theorem 7.9 Radius of Gyration 7.10 Examples Notes Problems 8: Angular Momentum Equations 8.1 Angular Momentum Equation 8.2 Euler’s Equations 8.3 Summary of Rigid Body Motion 8.4 Examples 8.5 Special Case of Planar Motion 8.6 Example 8.7 Equivalent Force Systems Notes Problems 9. Fixed Axis Rotation 9.1 Introductory Remarks 9.2 Off-Center Disk 9.3 Bent Disk 9.4 Static and Dynamic Balancing 9.5 General Case Notes Problems 10: Motion of a Rigid Body with One Point Fixed; Gyroscopic Motion 10.1 Instantaneous Axis of Zero Velocity 10.2 Euler’s Angles 10.3 Transformations 10.4 Example - Thin Spherical Pendulum 10.5 Gyroscopic Motion 10.6 Steady Precession 10.7 Example 10.8 Steady Precession with Zero Moment 10.9 Steady Precession About an Axis Normal to the Spin Axis 10.10 Use of a Rotor to Stabilize a Car in Turns 10.11 Examples and Applications Notes Problems 11: Work and Energy 11.1 Introduction 11.2 Work 11.3 Forms of the Work Integral 11.4 Example - Constant Force 11.5 Power 11.6