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发表于 2008-11-27 22:34:11
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来自 四川绵阳
he name multibody stands as a general term that encompasses a wide range of
systems such as: mechanisms, automobiles and trucks (including steering systems,
suspensions, etc.), robots, trains, industrial machinery (textile, packaging,
etc.), space structures, antennas, satellites, the human body, and others.
The use of computer aided kinematic and dynamic simulation has emerged as a
powerful tool for the analysis and design of multibody systems in fields such as
automobile industry, aerospace, robotics, machinery, biomechanics, and others.
The attention that it has received recently can be measured by the amount of
computer-aided analysis programs proliferating in the market for engineering
software, a phenomena similar to that produced by the finite element method in
the early seventies for structural design. Efficient formulations for dynamics and
reliable computational methods play a key role in achieving good simulation
tools.
The purpose of this book is to describe not only the commonly used methods
for multibody kinematic and dynamic simulation, but also the advanced topics
and the state of the art techniques. These include numerical methods and improved
dynamic formulations that allow real-time simulation response. The real time response
in multibody simulation is a characteristic that the engineering profession
is demanding more and more for analysis and design purposes. The analyst and
designer are interested in visualizing a whole set of successive responses of a
multibody in real time under different conditions, so as to get a clear picture of
the actual performance of the system that will help them to optimize the design
process.
The main features that characterize this book and distinguish it from other
texts are:
a) The use of the natural or fully Cartesian coordinates which allow for a
simple representation of multibodies, and lead to important advantages for
kinematic and dynamic simulation.
b) The consideration of advanced topics such as: friction, backlash, forward and
inverse dynamics of flexible multibodies, sensitivity analysis, and others.
c) The detailed description of numerical methods and improved dynamic formulations
that allow real time simulation response.
Contents
The first part of the book contains a description of the basic approaches and
methods for kinematic and dynamic analyses. Chapter 1 serves as an introduction
where the basic concepts and definitions are explained, the different types of problems
identified, and the general ways they may be solved are outlined. Chapter 2
describes the types of coordinates commonly used for the analysis of multibody
systems. Emphasis is placed on the fully Cartesian coordinates for 2- and 3-dimensional
systems which are treated thoroughly along with the types of constraint
conditions that they generate for different kinematic pairs. Chapter 3 deals
with kinematic analysis. The solution of problems such as initial position, finite
displacements, finding of the velocities and accelerations, treatment of redundant
constraints (over constrained systems), and the study of the Jacobian nullspace
that contains the possible motions are thoroughly exposed in this chapter.
Dynamic analysis starts in Chapter 4 with the formulation of the inertia forces
(mass matrices) generated by the different kind of bodies, and the external and
gravitational forces. Chapter 5 continues with a detailed description of the different
methods currently available for the dynamic analysis. Special attention is
given to the description of the methods in both dependent and independent coordinates,
and those based on velocity transformations. Chapter 6 deals with the analysis
static equilibrium position and the inverse dynamic problem.
The more advanced topics are dealt with in the second part initiated in Chapter
7 which describes the numerical integration of the resultant equations of motion.
Attention is given to the methods available for the solution of nonlinear ordinary
differential equations and differential-algebraic equations, and emphasis is placed
not only on accuracy but on stability for real time simulation. Improved dynamic
formulations of order O(N) and O(N3) such as recursive formalisms, improved
use of velocity transformations, and some particular implementations of the
penalty formulations in dependent coordinates are dealt with in Chapter 8.
Emphasis is placed on the real time simulation from the viewpoint of versatility,
generality, ease of implementation and possibilities of parallelization. The linearized
dynamic analysis is treated in Chapter 9. Chapter 10 deals with further
topics such as backlash, Coulomb friction, impacts, singular positions, kinematic
synthesis, and sensitivity analysis. Some of these topics offer open areas
for further research. Chapter 11 covers the forward dynamic analysis (simulation
problem) of multibodies with flexible elements. The formulations that arise from
the use of moving reference frames as well as inertial frames that require large
displacements and rotation elastic theories are explained in detail. Chapter 12
deals with the newly developed inverse dynamics of flexible multibodies that
leads to the time anticipatory joint efforts capable of reproducing a specified
endpoint trajectory. |
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