Rigid Body Dynamics of Mechanisms 2: Applications

ISBN-13: 9783540022374 / Angielski / Twarda / 2003 / 665 str.

Hubert Hahn

Opis

The dynamics of mechanical rigid-body systems is a highly developed disci pline. The model equations that apply to the tremendous variety of appli cations of rigid-body systems in industrial practice are based on just a few basic laws of, for example, Newton, Euler, or Lagrange. These basic laws can be written in an extreme compact, symmetrical, and esthetic form, simple enough to be easily learned and kept in mind by students and engineers not only from the area of mechanics, but also from other disciplines like physics, mathematics, or even control, hydraulics, and electronics. This latter aspect is of immense practical importance since mechanisms, machines, robots, and ve hicles in modern industrial practice (sometimes called mechatronic systems) usually include various subsystems from the areas of hydraulics, electronics, pneumatics, and control and are built by engineers which are trained in quite different disciplines. Objectives of this monograph This Volume presents a systematic approach for deriving model equations of many planar and spatial mechanisms: 1. As a first step in DAE form along the systematic approach of Volume I. 2. As a second step in symbolic DE form, as nonlinear and linear state-space equations, andin transfer-function form. The objectives of both the theoretical discussions (Volume I) and the practical applications (this volume) are (see Table 1. 1 of Chapter 1, Volume I): 1. To prepare the reader for efficiently handling and applications of general purpose rigid-body programs to complex mechanisms."

Recenzje

From the reviews:

"The second volume, subtitled Applications, begins with a chapter summarizing the methodology for deriving the governing DAEs for a general mechanical system and mapping these into DEs. ... The book has a number of nice features. ... Multiple and comprehensive illustrations are provided throughout the manuscript, ranging from very simple diagrams to illustrate the basic concepts (such as a moment vector) to photographs and engineering drawings of complex machinery ... . the manuscript makes for a desirable reference work in any mechanician's library." (Inna Sharf, Mathematical Reviews, 2005 e)

Spis treści

1. Introduction.- 2. Model equations in symbolic DAE and DE form.- 3. Planar models of an unconstrained rigid body.- 4. Planar models of a rigid body under absolute constraints.- 5. Planar models of two rigid bodies under constrained motion.- 6. Spatial models of an unconstrained rigid body.- 7. Spatial models of a rigid body under constrained motion.- 8. Spatial mechanisms with several rigid bodies.- A. Appendix.- A.1 Alternative representation of the spring and damper forces of Section 3.2.- A.2 Auxiliary computations and results associated with the mechanism of Section 8.3.- A.2.1 Explicit form of the constraint equations of the massless links.- A.2.2 Coefficients of the kinematics of the electrical drives.- A.2.3 Computation of the transformation matrix of the forces of the electrical drives.- A.3 Auxiliary computations associated with the example of Section 8.4.- A.3.2 Auxiliary computations used in Section 8.4.9.- References.- List of Figures.

Blurb

The second volume of Rigid Body Dynamics of Mechanisms covers applications via a systematic method for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume that introduces the theoretical mechanical aspects of mechatronic systems. Here the focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, plus active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. The examples included are a likely source from which to choose models for university lectures.