Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben

1994 | Buch

Introduction and Basic Concepts Kapitel lesen Erstes Kapitel lesen

Kinematic and Dynamic Simulation of Multibody Systems

The Real-Time Challenge

verfasst von: Javier García de Jalón, Eduardo Bayo

Verlag: Springer New York

Buchreihe : Mechanical Engineering Series

Enthalten in: Professional Book Archive

Einloggen, um Zugang zu erhalten
insite
SUCHEN

Über dieses Buch

Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu­ tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa­ tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu­ cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa­ tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

Inhaltsverzeichnis

Frontmatter
1. Introduction and Basic Concepts
Abstract
The kinematics and dynamics of multibody systems is an important part of what is referred to as CAD (Computer Aided Design) and MCAE (Mechanical Computer Aided Engineering). Figures 1.1 to 1.6 illustrate some practical examples of computer generated models for the simulation of real multibody systems. The mechanical systems included under the definition of multibodies comprise robots, heavy machinery, spacecraft, automobile suspensions and steering systems, graphic arts and textile machinery, packaging machinery, machine tools, and others. Normally, the mechanisms used in all these applications are subjected to large displacements, hence, their geometric configuration undergoes large variations under normal service conditions. Moreover, in recent years operating speeds have been increased, and consequently, there has been an increase in accelerations and inertial forces. These large forces inevitably lead to the appearance of dynamic problems that one must be able to predict and control.
Javier García de Jalón, Eduardo Bayo
2. Dependent Coordinates and Related Constraint Equations
Abstract
In either the kinematic or dynamic analysis of multibody systems described in Chapter 1, the first issue to consider is that of modeling the system, which involves the selection of a set of parameters or coordinates that will allow one to define unequivocally at all times the position, velocity and acceleration of the multibody system. There are several ways to solve this problem, and different authors have opted for one way or another depending on their preferences or the peculiarities of their own formulation.
Javier García de Jalón, Eduardo Bayo
3. Kinematic Analysis
Abstract
The kinematic constraint equations corresponding to the natural coordinates were explained in detail in Chapter 2, both for planar and three-dimensional multibody systems. They were then compared to other types of coordinates. Attention was also given to the main sources of constraint equations with natural coordinates: rigid body constraints, joint constraints, and the optional definition of relative or joint coordinates.
Javier García de Jalón, Eduardo Bayo
4. Dynamic Analysis. Mass Matrices and External Forces
Abstract
The formulation of the inertia and external forces appearing at any of the elements of a multibody system, in terms of the dependent coordinates that describe their position, velocity, and acceleration, is of fundamental importance for the solution of the dynamic analysis.
Javier García de Jalón, Eduardo Bayo
5. Dynamic Analysis. Equations of Motion
Abstract
This chapter deals with the direct dynamic problem which consists of determining the motion of a multibody system that results from the application of the external forces and/or the kinematically controlled or driven degrees of freedom. The direct dynamic analysis is also commonly referred to as the dynamic simulation. Its importance is steadily increasing in fields such as: automobile industry, aerospace, robotics, machinery, biomechanics, and others. The possibility of kinematically controlling some degrees of freedom in a dynamic problem has many practical applications. For example, in the analysis of vehicle suspensions, if the wheel is rigid, its center follows the trajectory determined by the rolling surface. The dynamic problem will determine the resulting motion of all the vehicle’s remaining elements.
Javier García de Jalón, Eduardo Bayo
6. Static Equilibrium Position and Inverse Dynamics
Abstract
This chapter deals with two important multibody problems related to forces: the determination of the static equilibrium position and the solution of the inverse dynamics. In both cases, it is assumed that the motion, that is, velocities and accelerations, is known, and, in the former case also, that the motion does not exist. At least, there is not relative motion with respect to the reference frame on which the problem is to be solved.
Javier García de Jalón, Eduardo Bayo
7. Numerical Integration of the Equations of Motion
Abstract
It was shown in Chapter 5 how the application of the laws of dynamics to constrained multibody systems leads to a set of differential algebraic equations (DAE). These can be transformed to second order ordinary differential equations (ODE) by proper differentiation of the kinematic constraint equations, by use of an independent set of coordinates, or by penalty formulations. A stable and accurate integration of both DAE and ODE is of great importance for the solution of the equations of motion. Although analytical solutions may be found for some simple cases, the number and complexity of the equations resulting from the majority of multibody systems requires numerical solutions. Because the theory of ordinary differential equations has been known for a long time, the stability, convergence, and accuracy of many methods have been studied in great detail. This has led to a wide use of these methods as compared to the differential algebraic equations, not so thoroughly known at this stage. As a consequence, many of the computer programs currently available for the computer-aided analysis and design of multibody systems rely on well-established methods for the solution of ODE.
Javier García de Jalón, Eduardo Bayo
8. Improved Formulations for Real-Time Dynamics
Abstract
The general purpose dynamic formulations described in Chapter 5 are simple and efficient, but they are not suitable for real time dynamic simulation. Real time performance requires faster formulations. These can be developed by taking into account the system’s kinematic configuration or topology. In the last two decades, a big effort has been dedicated to developing very efficient dynamic formulations for serial robots or manipulators. These formulations have been extended later on to general open and closed chain configurations.
Javier García de Jalón, Eduardo Bayo
9. Linearized Dynamic Analysis
Abstract
Several ways of formulating the differential equations of motion of a multibody system have been presented in Chapter 5. These equations are fully nonlinear in either the independent or dependent coordinates. The solution of these non linear equations is required in order to simulate the dynamic behavior of multibody systems that undergo large displacements and rotations. However, many systems work mostly on the proximity of a fixed or constant dynamic equilibrium configuration. It is very convenient to linearize the equations of motion about this equilibrium configuration, so as to take advantage of the linear analysis tools: fast computation of linear response, eigenvalue analysis, control design by pole placement, or other linear techniques, that are not available or at least are more complicated for the fully nonlinear models.
Javier García de Jalón, Eduardo Bayo
10. Special Topics
Abstract
This chapter deals with several techniques to solve some problems of particular interest in multibody simulation that have not been considered in other chapters. These techniques are neither very sophisticated nor trivial. However, they may be very useful at the time of solving practical or real problems.
Javier García de Jalón, Eduardo Bayo
11. Forward Dynamics of Flexible Multibody Systems
Abstract
So far, several approaches to the solution of the kinematics and dynamics of multibody systems have been presented. It has been assumed in these approaches that all the bodies satisfy the rigid body condition. A body is assumed to be rigid if any pair of its material points do not present relative displacements. In practice, bodies suffer some degree of deformation; so this assumption does not hold in the strict sense. However, in the majority of the cases the relative displacements are so small that they do not affect the system’s behavior. Therefore, they can be neglected without committing an appreciable error.
Javier García de Jalón, Eduardo Bayo
12. Inverse Dynamics of Flexible Multibodies
Abstract
Applications of artificial manipulation and robotics are steadily increasing in areas such as: microelectronics, agile space aircraft, vacuum mechatronics, satellite-mounted robots, biomedical sciences, teleoperation, assembly lines, manufacturing, and so forth. As a consequence, more demands are being placed on these systems, such as the need to design and use light and fast arms handling heavy payload with accuracy and low energy consumption. If the various links of a manipulator are to be considered rigid, they must be structurally stiff, and this leads to bulky and massive designs. If speed is not to be sacrificed, powerful and heavy actuators with high energy consumption are in turn required to move these arms. The most natural remedy is to use flexible multibodies with slender links.
Javier García de Jalón, Eduardo Bayo
Backmatter
Metadaten
Titel
Kinematic and Dynamic Simulation of Multibody Systems
verfasst von
Javier García de Jalón
Eduardo Bayo
Copyright-Jahr
1994
Verlag
Springer New York
Electronic ISBN
978-1-4612-2600-0
Print ISBN
978-1-4612-7601-2
DOI
https://doi.org/10.1007/978-1-4612-2600-0