Book Cover
E-book
Author Shabana, Ahmed A., 1951-

Title Computational dynamics / Ahmed A. Shabana
Edition 2nd ed
Published New York : John Wiley, 2001

Copies

Description 1 online resource (xiv, 503 pages) : illustrations
Contents 1.1 Computational Dynamics 2 -- 1.2 Motion and Constraints 4 -- 1.3 Degrees of Freedom 6 -- 1.4 Kinematic Analysis 9 -- 1.5 Force Analysis 12 -- 1.6 Dynamic Equations and Their Different Forms 12 -- 1.7 Forward and Inverse Dynamics 14 -- 1.8 Planar and Spatial Dynamics 16 -- 1.9 Computer and Numerical Methods 18 -- 1.10 Organization, Scope, and Notations of the Book 20 -- 2 Linear Algebra 22 -- 2.1 Matrices 23 -- 2.2 Matrix Operations 25 -- 2.3 Vectors 35 -- 2.4 Three-Dimensional Vectors 45 -- 2.5 Solution of Algebraic Equations 52 -- 2.6 Triangular Factorization 60 -- 2.7 QR Decomposition 65 -- 2.8 Singular Value Decomposition 81 -- 3 Kinematics 95 -- 3.1 Mechanical Joints 96 -- 3.2 Coordinate Transformation 104 -- 3.3 Position, Velocity, and Acceleration Equations 105 -- 3.4 Kinematics of a Point Moving on a Rigid Body 124 -- 3.5 Constrained Kinematics 132 -- 3.6 Formulation of the Joint Constraints 136 -- 3.7 Computational Methods in Kinematics 150 -- 3.8 Computer Implementation 159 -- 3.9 Kinematic Modeling and Analysis 171 -- 4 Forms of the Dynamic Equations 188 -- 4.1 D'Alembert's Principle 189 -- 4.2 Constrained Dynamics 194 -- 4.3 Augmented Formulation 196 -- 4.4 Elimination of the Dependent Accelerations 197 -- 4.5 Embedding Technique 199 -- 4.6 Amalgamated Formulation 202 -- 4.7 Open and Closed Chains 203 -- 5 Virtual Work and Lagrangian Dynamics 217 -- 5.1 Virtual Displacements 218 -- 5.2 Kinematic Constraints and Coordinate Partitioning 221 -- 5.3 Virtual Work 233 -- 5.4 Examples of Force Elements 240 -- 5.5 Workless Constraints 256 -- 5.6 Principle of Virtual Work in Statics 257 -- 5.7 Principle of Virtual Work in Dynamics 268 -- 5.8 Lagrange's Equation 274 -- 5.9 Gibbs-Appel Equation 279 -- 5.10 Hamiltonian Formulation 280 -- 5.11 Relationship between Virtual Work and Gaussian Elimination 286 -- 6 Constrained Dynamics 295 -- 6.1 Generalized Inertia 295 -- 6.2 Mass Matrix and Centrifugal Forces 301 -- 6.3 Equations of Motion 307 -- 6.4 System of Rigid Bodies 309 -- 6.5 Elimination of the Constraint Forces 314 -- 6.6 Lagrange Multipliers 323 -- 6.7 Constrained Dynamic Equations 332 -- 6.8 Joint Reaction Forces 339 -- 6.9 Elimination of Lagrange Multipliers 342 -- 6.10 State Space Representation 345 -- 6.11 Numerical Integration 349 -- 6.12 Differential and Algebraic Equations 358 -- 6.13 Inverse Dynamics 368 -- 6.14 Static Analysis 371 -- 7 Spatial Dynamics 378 -- 7.1 General Displacement 379 -- 7.2 Finite Rotations 380 -- 7.3 Euler Angles 388 -- 7.4 Velocity and Acceleration 391 -- 7.5 Generalized Coordinates 397 -- 7.6 Generalized Inertia Forces 401 -- 7.7 Generalized Applied Forces 414 -- 7.8 Dynamic Equations of Motion 423 -- 7.9 Constrained Dynamics 427 -- 7.10 Formulation of the Joint Constraints 430 -- 7.11 Newton-Euler Equations 439 -- 7.12 Linear and Angular Momentum 441 -- 7.13 Recursive Methods 443 -- 8 Other Topics in Spatial Dynamics 467 -- 8.1 Gyroscopes and Euler Angles 467 -- 8.2 Rodriguez Formula 472 -- 8.3 Euler Parameters 476 -- 8.4 Rodriguez Parameters 479 -- 8.5 Quaternions 481 -- 8.6 Rigid Body Contact 485
Summary A practical approach to the computational methods used to solve real-world dynamics problems Computational dynamics has grown rapidly in recent years with the advent of high-speed digital computers and the need to develop simulation and analysis computational capabilities for mechanical and aerospace systems that consist of interconnected bodies. Computational Dynamics, Second Edition offers a full introduction to the concepts, definitions, and techniques used in multibody dynamics and presents essential topics concerning kinematics and dynamics of motion in two and th
Bibliography Includes bibliographical references and index
Notes Print version record
Subject Dynamics.
kinetics (dynamics)
SCIENCE -- Mechanics -- Dynamics.
Dynamics.
Dynamics
Dynamik
Dynamica.
DinĂ¢mica.
Form Electronic book
LC no. 00047733
ISBN 0471053260
9780471053262
6610341249
9786610341245