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2002 results in Engineering design, kinematics, and robotics

Page 21 of 101

  • 2 - Reference Kinematics

  • Ahmed A. Shabana, University of Illinois, Chicago
  • Book:
    Dynamics of Multibody Systems
    Published online:
    14 September 2020
    Print publication:
    05 March 2020, pp 28-78

  • Summary

    While a body-fixed coordinate system is commonly employed as a reference for rigid components, a floating coordinate system is suggested for deformable bodies that undergo large rotations. When dealing with rigid body systems, the kinematics of the body is completely described by the kinematics of its coordinate system because the particles of a rigid body do not move with respect to a body-fixed coordinate system. The local position of a particle on the body can then be described in terms of fixed components along the axes of this moving coordinate system. In deformable bodies, on the other hand, particles move with respect to the selected body coordinate system, and therefore, a distinction is made between the kinematics of the coordinate system and the body kinematics.

  • 9 - Integration of Geometry, Durability Analysis, and Design

  • Ahmed A. Shabana, University of Illinois, Chicago
  • Book:
    Dynamics of Multibody Systems
    Published online:
    14 September 2020
    Print publication:
    05 March 2020, pp 345-370

  • Summary

    In the virtual prototyping, durability analysis, and design processes, accurate computer modeling of a large number of physics and engineering systems is necessary. For such systems that consist of interconnected bodies, developing credible computer models requires the use of accurate geometry description as well as the analysis techniques described in this book. Nonetheless, virtual prototyping, durability analysis, and product design are currently performed in many industry sectors using three different incompatible systems: computer-aided design (CAD) system for creating the geometry, finite element (FE) software for developing the analysis mesh, and multibody system (MBS) software for constructing and numerically solving the differential/algebraic equations (DAEs) of constrained systems. The use of the three-software technology has resulted in unreliable stress and durability results, significant waste of engineering time and efforts, misrepresentation of significant model details, and significant economic loss.

Intermediate Dynamics for Engineers
  • Newton-Euler and Lagrangian Mechanics
  • 2nd edition
  • Oliver M. O'Reilly
  • Published online:
    08 February 2020
    Print publication:
    30 January 2020
  • Suitable for both senior-level and first-year graduate courses, this fully revised edition provides a unique and systematic treatment of engineering dynamics that covers Newton–Euler and Lagrangian approaches. New to this edition are: two completely revised chapters on the constraints on, and potential energies for, rigid bodies, and the dynamics of systems of particles and rigid bodies; clearer discussion on coordinate singularities and their relation to mass matrices and configuration manifolds; additional discussion of contravariant basis vectors and dual Euler basis vectors, as well as related works in robotics; improved coverage of navigation equations; inclusion of a 350-page solutions manual for instructors, available online; a fully updated reference list. Numerous structured examples, discussion of various applications, and exercises covering a wide range of topics are included throughout, and source code for exercises, and simulations of systems are available online.

Page 21 of 101