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Rigid Body Dynamics of Mechanisms 2

Applications

  • Book
  • © 2003

Overview

Authors:
  1. Hubert Hahn

    1. Regelungstechnik und Systemdynamik, FB Maschinenbau, Universität Gh Kassel, Kassel, Germany

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  • Discussion of engineering applications (robots, airplanes)
  • Systematic approach for deriving model equations
  • Enables the reader to handle modern general purpose rigid body programs

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Table of contents (8 chapters)

  1. Front Matter

    Pages i-xvii
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  2. Introduction

    • Hubert Hahn
    Pages 1-7

  3. Model equations in symbolic DAE and DE form

    • Hubert Hahn
    Pages 9-29

  4. Planar models of an unconstrained rigid body

    • Hubert Hahn
    Pages 31-66

  5. Planar models of a rigid body under absolute constraints

    • Hubert Hahn
    Pages 67-207

  6. Planar models of two rigid bodies under constrained motion

    • Hubert Hahn
    Pages 209-389

  7. Spatial models of an unconstrained rigid body

    • Hubert Hahn
    Pages 391-438

  8. Spatial models of a rigid body under constrained motion

    • Hubert Hahn
    Pages 439-469

  9. Spatial mechanisms with several rigid bodies

    • Hubert Hahn
    Pages 471-622

  10. Back Matter

    Pages 623-665
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Keywords

About this book

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.

Reviews

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)

Authors and Affiliations

  • Regelungstechnik und Systemdynamik, FB Maschinenbau, Universität Gh Kassel, Kassel, Germany

    Hubert Hahn

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