Rigid Body Dynamics of Mechanisms 2: Applications / Edition 1

by Hubert Hahn

Overview

Intended for self-study, this second volume presents a systematic approach for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume. The focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, as well as active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. Its examples can be used as models for university lectures.

Product Details

ISBN-13:	9783642056956
Publisher:	Springer Berlin Heidelberg
Publication date:	12/07/2010
Edition description:	Softcover reprint of hardcover 1st ed. 2003
Pages:	665
Product dimensions:	6.10(w) x 9.25(h) x 0.24(d)

Table of Contents

1. Introduction.- 2. Model equations in symbolic DAE and DE form.- 3. Planar models of an unconstrained rigid body.- 4. Planar models of a rigid body under absolute constraints.- 5. Planar models of two rigid bodies under constrained motion.- 6. Spatial models of an unconstrained rigid body.- 7. Spatial models of a rigid body under constrained motion.- 8. Spatial mechanisms with several rigid bodies.- A. Appendix.- A.1 Alternative representation of the spring and damper forces of Section 3.2.- A.2 Auxiliary computations and results associated with the mechanism of Section 8.3.- A.2.1 Explicit form of the constraint equations of the massless links.- A.2.2 Coefficients of the kinematics of the electrical drives.- A.2.3 Computation of the transformation matrix of the forces of the electrical drives.- A.3 Auxiliary computations associated with the example of Section 8.4.- A.3.2 Auxiliary computations used in Section 8.4.9.- References.- List of Figures.

Editorial 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)

From the Publisher