LEADER 04588nam 22007335 450 001 9910299693803321 005 20200630031841.0 010 $a3-319-16190-3 024 7 $a10.1007/978-3-319-16190-7 035 $a(CKB)3710000000372015 035 $a(EBL)1998193 035 $a(OCoLC)904397984 035 $a(SSID)ssj0001465426 035 $a(PQKBManifestationID)11821045 035 $a(PQKBTitleCode)TC0001465426 035 $a(PQKBWorkID)11477817 035 $a(PQKB)10149691 035 $a(DE-He213)978-3-319-16190-7 035 $a(MiAaPQ)EBC1998193 035 $a(PPN)184890535 035 $a(EXLCZ)993710000000372015 100 $a20150304d2015 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aConcepts and Formulations for Spatial Multibody Dynamics /$fby Paulo Flores 205 $a1st ed. 2015. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2015. 215 $a1 online resource (84 p.) 225 1 $aSpringerBriefs in Applied Sciences and Technology,$x2191-530X 300 $aDescription based upon print version of record. 311 $a3-319-16189-X 320 $aIncludes bibliographical references. 327 $a1 Definition of Multibody System -- 2 Fundamental Concepts in Multibody Dynamics -- 3 Global and Local Coordinates -- 4 Euler Angles, Bryant Angles and Euler Parameters -- 5 Angular Velocity and Acceleration -- 6 Vector of Coordinates, Velocities and Accelerations -- 7 Kinematic Constraint Equations -- 8 Basic Constraints between Two Vectors -- 9 Kinematic Joints Constraints -- 10 Equations of Motion for Constrained Systems -- 11 Force Elements and Reaction Forces -- 12 Methods to Solve the Equations of Motion -- 13 Integration Methods in Dynamic Analysis -- 14 Correction of the Initial Conditions -- 15 Demonstrative Example of Application. 330 $aThis book will be particularly useful to those interested in multibody simulation (MBS) and the formulation for the dynamics of spatial multibody systems. The main types of coordinates that can be used in the formulation of the equations of motion of constrained multibody systems are described. The multibody system, made of interconnected bodies that undergo large displacements and rotations, is fully defined. Readers will discover how Cartesian coordinates and Euler parameters are utilized and are the supporting structure for all methodologies and dynamic analysis, developed within the multibody systems methodologies. The work also covers the constraint equations associated with the basic kinematic joints, as well as those related to the constraints between two vectors. The formulation of multibody systems adopted here uses the generalized coordinates and the Newton-Euler approach to derive the equations of motion. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of multibody systems. This approach is very straightforward in terms of assembling the equations of motion and providing all joint reaction forces. The demonstrative examples and discussions of applications are particularly valuable aspects of this book, which builds the reader?s understanding of fundamental concepts. 410 0$aSpringerBriefs in Applied Sciences and Technology,$x2191-530X 606 $aVibration 606 $aDynamics 606 $aDynamics 606 $aAutomatic control 606 $aRobotics 606 $aMechatronics 606 $aSystem theory 606 $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036 606 $aControl, Robotics, Mechatronics$3https://scigraph.springernature.com/ontologies/product-market-codes/T19000 606 $aSystems Theory, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/M13070 615 0$aVibration. 615 0$aDynamics. 615 0$aDynamics. 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aMechatronics. 615 0$aSystem theory. 615 14$aVibration, Dynamical Systems, Control. 615 24$aControl, Robotics, Mechatronics. 615 24$aSystems Theory, Control. 676 $a621.8110285 700 $aFlores$b Paulo$4aut$4http://id.loc.gov/vocabulary/relators/aut$0720678 906 $aBOOK 912 $a9910299693803321 996 $aConcepts and Formulations for Spatial Multibody Dynamics$91412436 997 $aUNINA