Kinematic and Dynamic Simulation of Multibody Systems

1. Front Matter

   Pages i-xvi

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2. Introduction and Basic Concepts

   • Javier García de Jalón, Eduardo Bayo

   Pages 1-15

3. Dependent Coordinates and Related Constraint Equations

   • Javier García de Jalón, Eduardo Bayo

   Pages 16-70

4. Kinematic Analysis

   • Javier García de Jalón, Eduardo Bayo

   Pages 71-119

5. Dynamic Analysis. Mass Matrices and External Forces

   • Javier García de Jalón, Eduardo Bayo

   Pages 120-155

6. Dynamic Analysis. Equations of Motion

   • Javier García de Jalón, Eduardo Bayo

   Pages 156-200

7. Static Equilibrium Position and Inverse Dynamics

   • Javier García de Jalón, Eduardo Bayo

   Pages 201-242

8. Numerical Integration of the Equations of Motion

   • Javier García de Jalón, Eduardo Bayo

   Pages 243-270

9. Improved Formulations for Real-Time Dynamics

   • Javier García de Jalón, Eduardo Bayo

   Pages 271-324

10. Linearized Dynamic Analysis

    • Javier García de Jalón, Eduardo Bayo

    Pages 325-337

11. Special Topics

    • Javier García de Jalón, Eduardo Bayo

    Pages 338-374

12. Forward Dynamics of Flexible Multibody Systems

    • Javier García de Jalón, Eduardo Bayo

    Pages 375-408

13. Inverse Dynamics of Flexible Multibodies

    • Javier García de Jalón, Eduardo Bayo

    Pages 409-434

14. Back Matter

    Pages 435-440

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Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu­ tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa­ tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu­ cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa­ tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

• applied mechanics
• biomechanics
• kinematics
• mechanical engineering
• mechanics
• science
• simulation

FROM THE REvIEWS:

MATHEMATICAL REVIEWS
"The book under review presents a comprehensive treatment of all aspects of modeling and numerical analysis of multibody systems. It contains many illustrations and examples and is suitable as a textbook for one or two graduate courses in multibody dynamics.”

• Department of Applied Mechanics, University of Navarra and CEIT, Donostia - San Sebastian, Spain

  Javier García de Jalón

• Department of Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, USA

  Eduardo Bayo

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