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Computational Methods in Mechanical Systems

Mechanism Analysis, Synthesis, and Optimization

  • Book
  • © 1998

Overview

Editors:
  1. Jorge Angeles

    1. Department of Mechanical Engineering and McGill Centre for Intelligent Machines, McGill University, Montreal, Canada

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    You can also search for this editor in PubMed   Google Scholar

  2. Evtim Zakhariev

    1. Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria

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    You can also search for this editor in PubMed   Google Scholar

  • Meticulously edited collection on mechanical systems R&D
  • State-of-the-art computational methods in mechanics
  • Kinematics and dynamics of rigid bodies, flexible bodies, and multibody systems
  • Contributions by world's leading experts on mechanical systems

Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 161)

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Table of contents (16 chapters)

  1. Front Matter

    Pages I-X
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  2. Kinematics of Mechanical Systems

    1. Front Matter

      Pages 1-1
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    2. The Application of Dual Algebra to Kinematic Analysis

      • Jorge Angeles
      Pages 3-32

    3. Formulation and Solution for the Direct and Inverse Kinematics Problems for Mechanisms and Mechatronics Systems

      • James Nielsen, Bernard Roth
      Pages 33-52

    4. The Design of Spherical 4R Linkages for Four Specified Orientations

      • D. Alan Ruth, J. Michael McCarthy
      Pages 53-67

    5. On the Design of Efficient Parallel Mechanisms

      • Clément M. Gosselin
      Pages 68-96

    6. Optimization of Multi-DOF Mechanisms

      • Patrick Chedmail
      Pages 97-129

    7. Computational Issues in the Kinematic Design of Tactile Sensing Fixtures

      • Walter Willem Nederbragt, Bahram Ravani
      Pages 130-143

    8. Numerical Methods for Mechanism and Manipulator Workspace Analysis

      • Edward J. Haug, Frederick A. Adkins, Chi-Mei Luh
      Pages 144-163

  3. Dynamics and Control of Rigid-Body Systems

    1. Front Matter

      Pages 165-165
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    2. Equations of Motion in Tensor Variables and Their Application to Multibody Systems

      • Ljubomir Lilov, Nikolina Vassileva
      Pages 167-196

    3. Efficient Description and Geometrical Interpretation of the Dynamics of Constrained Systems

      • Hans Brauchli
      Pages 197-211

    4. A Generic Numerical Method for Mechanical System Kinematics and Dynamics Modeling

      • Evtim V. Zakhariev
      Pages 212-241

    5. Implicit Integration of the Equations of Multibody Dynamics

      • E. J. Haug, D. Negrut, M. Iancu
      Pages 242-267

    6. Models for the Simulation of Power-Steering Systems

      • Rainer Dürr, Werner Schiehlen
      Pages 268-295

    7. Control of Robotic Systems by Exact Linearization

      • Christoph Woernle
      Pages 296-325

  4. Dynamics of Flexible Multibody Systems

    1. Front Matter

      Pages 327-327
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    2. Flexible Bodies in Multibody Systems

      • Richard Schwertassek
      Pages 329-363

    3. Parallelization of Large Mechanical Engineering Codes

      • Arne Marthinsen, Ole Ivar Sivertsen
      Pages 364-381

    4. Flexible Multibody Dynamics with Nonlinear Deformations: Vehicle Dynamics and Crashworthiness Applications

      • Jorge A. C. Ambrósio, Manuel F. O. S. Pereira
      Pages 382-419
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Keywords

About this book

The chapters of this book summarize the lectures delivered du ring the NATO Advanced Study Institute (ASI) on Computational Methods in Mechanisms, that took place in the Sts. Constantin and Elena Resort, near Varna, on the Bulgarian Coast of the Black Sea, June 16-28, 1997. The purpose of the ASI was to bring together leading researchers in the area of mechanical systems at large, with special emphasis in the computational issues around their analysis, synthesis, and optimization, during two weeks of lectures and discussion. A total of 89 participants from 23 count ries played an active role during the lectures and sessions of contributed papers. Many of the latter are being currently reviewed for publication in specialized journals. The subject of the book is mechanical systems, Le. , systems composed of rigid and flexible bodies, coupled by mechanical means so as to constrain their various bodies in a goal-oriented manner, usually driven under computer con­ trol. Applications of the discipline are thus of the most varied nature, ranging from transportation systems to biomedical devices. U nder normal operation conditions, the constitutive bodies of a mechanical system can be consid­ ered to be rigid, the rigidity property then easing dramatically the analysis of the kinematics and dynamics of the system at hand. Examples of these systems are the suspension of a terrestrial vehicle negotiating a curve at speeds within the allowed or recommended limits and the links of multiaxis industrial robots performing conventional pick-and-place operations.

Editors and Affiliations

  • Department of Mechanical Engineering and McGill Centre for Intelligent Machines, McGill University, Montreal, Canada

    Jorge Angeles

  • Institute of Mechanics, Bulgarian Academy of Sciences, Sofia, Bulgaria

    Evtim Zakhariev

Bibliographic Information

  • Book Title: Computational Methods in Mechanical Systems

  • Book Subtitle: Mechanism Analysis, Synthesis, and Optimization

  • Editors: Jorge Angeles, Evtim Zakhariev

  • Series Title: NATO ASI Subseries F:

  • DOI: https://doi.org/10.1007/978-3-662-03729-4

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag Berlin Heidelberg 1998

  • Hardcover ISBN: 978-3-540-63939-8Published: 16 April 1998

  • Softcover ISBN: 978-3-642-08369-3Published: 01 December 2010

  • eBook ISBN: 978-3-662-03729-4Published: 29 June 2013

  • Series ISSN: 0258-1248

  • Edition Number: 1

  • Number of Pages: X, 430

  • Topics: Mechanical Engineering, Computer-Aided Engineering (CAD, CAE) and Design, Simulation and Modeling, Complexity

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