SD 652: Dynamics of Multibody Systems


Description:
Essentially, this course shows how an engineer can efficiently model and simulate the motion of complex mechanical systems such as robots, vehicles, and mechanisms. Systematic methods, including conventional approaches and linear graph theory, are used to generate kinematic and dynamic models for 2-d and 3-d systems of rigid bodies connected by mechanical joints, springs, dampers, and actuators. The extension of these methods to vehicles, mechatronic
systems and flexible robot manipulators is also presented. Numerical solutions for the dynamic equations provide a simulation of the system response, which will be obtained using commercial software packages (ADAMS and MapleSim). The course concepts are demonstrated through applications to the kinematic and dynamic analysis of mechanisms, serial and parallel robot manipulators, road and rail vehicles, and other industrial multibody systems. Whenever possible, mechanical prototypes are brought to the lectures.
Course Contents:
  1. Introduction
    1. Overview of multibody dynamics
    2. Review of kinematics 
      1. degrees of freedom
      2. vector kinematics
      3. applications to particles
      4. applications to multibody systems
      5. rotation transformations
    3. Review of dynamics
      1. vectorial mechanics (particles, rigid bodies)
      2. analytical mechanics (multibody systems)
    • The reviews of kinematics and dynamics are best supported by the books of Hibbeler and Ginsberg (see below).
  2. Conventional Multibody Dynamics
    1. Planar systems
      1. absolute coordinates and constraints
      2. kinematic analysis
      3. dynamic analysis
      4. numerical computer implementation:   MSC.Adams
    2. Spatial systems
      1. rotational coordinates and equations
      2. kinematics
      3. dynamics
    • The material on planar systems is covered in the first half of the Haug textbook, available in the bookstore as the SD 382 text.  The material on spatial systems is supported by the second half of the Haug textbook.
  3. Graph-Theoretic (G-T) Dynamics of Multibody Systems
    1. Basics of G-T modelling
    2. One-dimensional multibody systems
    3. Multi-dimensional multibody systems
    4. Symbolic computer implementation:  MapleSim
  4. Advanced Topics
    1. Mechatronic systems
    2. Contact dynamics
    3. Tires in vehicle dynamics

References:


[1].  Computer-Aided Kinematics and Dynamics of Mechanical Systems, E.J. Haug, Allyn and Bacon, 1989.
[2].  Dynamics of Multibody Systems: Conventional and Graph-Theoretic Approaches, J. McPhee, SD652 course notes, 2004.
[3].  Engineering Mechanics, R. Hibbeler, Prentice-Hall, 2004.
[4].  Vector Mechanics for Engineers, F. Beer and R. Johnston, McGraw-Hill, 2003.
[5].  Advanced Engineering Dynamics, 2nd ed., J. Ginsberg, Cambridge University Press, 1998.
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