Computational dynamics /

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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 aerospac...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor principal: Shabana, Ahmed A., 1951-
Formato: Electrónico eBook
Idioma:Inglés
Publicado: New York : John Wiley, 2001.
Edición:2nd ed.
Temas:
Dynamics.
Dynamique.
kinetics (dynamics)
SCIENCE > Mechanics > Dynamics.
Dynamics
Dynamik
Dynamica.
Dinâmica.
Acceso en línea:Texto completo
Tabla de Contenidos:
  • 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.

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