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Author: Hubert Hahn Publisher: Springer Science & Business Media ISBN: 3662048310 Category : Technology & Engineering Languages : en Pages : 345
Book Description
This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.
Author: Hubert Hahn Publisher: Springer Science & Business Media ISBN: 3662048310 Category : Technology & Engineering Languages : en Pages : 345
Book Description
This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.
Author: Hubert Hahn Publisher: Springer Science & Business Media ISBN: 3662097699 Category : Science Languages : en Pages : 674
Book Description
Intended for self-study, this second volume presents a systematic approach for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume. 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, as well as 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. Its examples can be used as models for university lectures.
Author: Hubert Hahn Publisher: Springer ISBN: 9783540423737 Category : Technology & Engineering Languages : en Pages : 336
Book Description
This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.
Author: Joaquim A. Batlle Publisher: Cambridge University Press ISBN: 1108902251 Category : Technology & Engineering Languages : en Pages : 598
Book Description
Building up from first principles and simple scenarios, this comprehensive introduction to rigid body dynamics gradually introduces readers to tools to address involved real-world problems, and cutting-edge research topics. Using a unique blend of conceptual, theoretical and practical approaches, concepts are developed and rigorously applied to practical examples in a consistent and understandable way. It includes discussion of real-world applications including robotics and vehicle dynamics, and over 40 thought-provoking fully worked examples to cement readers' understanding. Providing a wealth of resources allowing readers to confidently self-assess – including over 100 problems with solutions, over 400 high quality multiple choice questions, and end-of-chapter puzzles dealing with everyday situations – this is an ideal companion for undergraduate students in aerospace, civil and mechanical engineering.
Author: Roy Featherstone Publisher: Springer ISBN: 1489975608 Category : Education Languages : en Pages : 276
Book Description
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Author: Jacques Grosjean Publisher: ISBN: Category : Science Languages : en Pages : 324
Book Description
A text on the principles underlying the analysis and synthesis of mechanisms. Although the approach adopted is mathematical, the actual solution of the resultant equations can be achieved by numerical or computational techniques - for which BASIC and FORTRAN programs are included.
Author: Mohammed F. Daqaq Publisher: John Wiley & Sons ISBN: 1119463181 Category : Science Languages : en Pages : 376
Book Description
A unique approach to teaching particle and rigid body dynamics using solved illustrative examples and exercises to encourage self-learning The study of particle and rigid body dynamics is a fundamental part of curricula for students pursuing graduate degrees in areas involving dynamics and control of systems. These include physics, robotics, nonlinear dynamics, aerospace, celestial mechanics and automotive engineering, among others. While the field of particle and rigid body dynamics has not evolved significantly over the past seven decades, neither have approaches to teaching this complex subject. This book fills the void in the academic literature by providing a uniquely stimulating, “flipped classroom” approach to teaching particle and rigid body dynamics which was developed, tested and refined by the author and his colleagues over the course of many years of instruction at both the graduate and undergraduate levels. Complete with numerous solved illustrative examples and exercises to encourage self-learning in a flipped-classroom environment, Dynamics of Particles and Rigid Bodies: A Self-Learning Approach: Provides detailed, easy-to-understand explanations of concepts and mathematical derivations Includes numerous flipped-classroom exercises carefully designed to help students comprehend the material covered without actually solving the problem for them Features an extensive chapter on electromechanical modelling of systems involving particle and rigid body motion Provides examples from the state-of-the-art research on sensing, actuation, and energy harvesting mechanisms Offers access to a companion website featuring additional exercises, worked problems, diagrams and a solutions manual Ideal as a textbook for classes in dynamics and controls courses, Dynamics of Particles and Rigid Bodies: A Self-Learning Approach is a godsend for students pursuing advanced engineering degrees who need to master this complex subject. It will also serve as a handy reference for professional engineers across an array of industrial domains.
Author: Sébastien Briot Publisher: Springer ISBN: 3319197886 Category : Technology & Engineering Languages : en Pages : 356
Book Description
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Author: Hans Dresig Publisher: Springer Science & Business Media ISBN: 3540899405 Category : Technology & Engineering Languages : en Pages : 553
Book Description
Dynamic loads and undesired oscillations increase with higher speed of machines. At the same time, industrial safety standards require better vibration reduction. This book covers model generation, parameter identification, balancing of mechanisms, torsional and bending vibrations, vibration isolation, and the dynamic behavior of drives and machine frames as complex systems. Typical dynamic effects, such as the gyroscopic effect, damping and absorption, shocks, resonances of higher order, nonlinear and self-excited vibrations are explained using practical examples. These include manipulators, flywheels, gears, mechanisms, motors, rotors, hammers, block foundations, presses, high speed spindles, cranes, and belts. Various design features, which influence the dynamic behavior, are described. The book includes 60 exercises with detailed solutions. The substantial benefit of this "Dynamics of Machinery" lies in the combination of theory and practical applications and the numerous descriptive examples based on real-world data. The book addresses graduate students as well as engineers.
Author: Hubert Hahn
Author: Hubert Hahn
Author: Hubert Hahn
Author: Hubert Hahn
Author: Hubert Hahn
Author: Joaquim A. Batlle
Author: Roy Featherstone
Author: Jacques Grosjean
Author: Mohammed F. Daqaq
Author: Sébastien Briot
Author: Hans Dresig