Rigid Body Dynamics Of Mechanisms 2
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Rigid Body Dynamics of Mechanisms 2
Author: Hubert Hahn
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-03-09
The dynamics of mechanical rigid-body systems is a highly developed disci pline. The model equations that apply to the tremendous variety of appli cations of rigid-body systems in industrial practice are based on just a few basic laws of, for example, Newton, Euler, or Lagrange. These basic laws can be written in an extreme compact, symmetrical, and esthetic form, simple enough to be easily learned and kept in mind by students and engineers not only from the area of mechanics, but also from other disciplines like physics, mathematics, or even control, hydraulics, and electronics. This latter aspect is of immense practical importance since mechanisms, machines, robots, and ve hicles in modern industrial practice (sometimes called mechatronic systems) usually include various subsystems from the areas of hydraulics, electronics, pneumatics, and control and are built by engineers which are trained in quite different disciplines. Objectives of this monograph This Volume presents a systematic approach for deriving model equations of many planar and spatial mechanisms: 1. As a first step in DAE form along the systematic approach of Volume I. 2. As a second step in symbolic DE form, as nonlinear and linear state-space equations, andin transfer-function form. The objectives of both the theoretical discussions (Volume I) and the practical applications (this volume) are (see Table 1. 1 of Chapter 1, Volume I): 1. To prepare the reader for efficiently handling and applications of general purpose rigid-body programs to complex mechanisms.
Rigid Body Dynamics of Mechanisms 2
Author: Hubert Hahn
language: en
Publisher: Springer Science & Business Media
Release Date: 2002
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.
Rigid Body Dynamics of Mechanisms
Author: Hubert Hahn
language: en
Publisher: Springer Science & Business Media
Release Date: 2013-11-11
The dynamics of mechanical rigid-body mechanisms is a highly developed discipline. The model equations that apply to the tremendous variety of ap plications of rigid-body systems in industrial practice are based on just a few basic laws of, for example, Newton, Euler, or Lagrange. These basic laws can be written in an extremely compact, symmetrical, and esthetic form, simple enough to be easily learned and kept in mind by students and engi neers, not only from the area of mechanics but also from other disciplines such as physics, or mathematics, or even control, hydraulics, or electronics. This latter aspect is of immense practical importance since mechanisms, ma chines, robots, and vehicles in modern industrial practice (sometimes called mechatronic systems) usually include various subsystems from the areas of hydraulics, electronics, pneumatics, informatics, and control, and are built by engineers trained in quite different disciplines. Conventional methods of modeling rigid-body mechanisms In contrast to the comparatively simple and easy-to-learn basic laws of rigid body systems, the practical application of these laws to the planar or spatial motions of industrial mechanisms rapidly leads to extremely lengthy and complex equations of motion, where the form and complexity of the model equations depends critically on the choice of the model coordinates. Until recently this had the following consequences: 1. A large variety of specialized techniques have been developed, each suit able for efficiently modeling a special-purpose mechanism.