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作者 Uicker, John J
書名 Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems
出版項 New York : Cambridge University Press, 2013
©2013
國際標準書號 9781107347403 (electronic bk.)
9780521761093
book jacket
說明 1 online resource (348 pages)
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
附註 Intro -- Contents -- Preface -- About the Authors -- 1 Concepts and Definitions -- 1.1 Mechanical Design: Synthesis versus Analysis -- 1.2 Multibody Systems and Mechanisms -- 1.3 Planar, Spherical, and Spatial Mechanisms -- 1.4 Mechanical Body -- 1.5 Mechanical Chain and Kinematic Inversion -- 1.6 Joints and Joint Elements -- 1.7 The Six Lower-Pairs -- 1.8 Higher-Pairs and Kinematic Equivalence -- 1.9 Restraints versus Constraints -- References -- 2 Topology and Kinematic Architecture -- 2.1 Introduction -- 2.2 The Incidence Matrix -- 2.3 Connectedness and Assemblies -- 2.4 Kinematic Loops -- 2.5 Kinematic Paths -- References -- Problems -- 3 Transformation Matrices in Kinematics -- 3.1 Introduction -- 3.2 Homogeneous Coordinates of a Point -- 3.3 Line Coordinates and Plücker Vectors -- 3.4 Three-dimensional Orientation -- 3.5 Transformation of Coordinates -- 3.6 Positions, Postures, and Displacements -- 3.7 Eulers and Chasles' Theorems -- 3.8 Euler-Rodrigues Parameters -- 3.9 Displacement of Lines -- 3.10 Quaternions -- References -- Problems -- 4 Modeling Mechanisms and Multibody Systems with Transformation Matrices -- 4.1 Introduction -- 4.2 Body Coordinate Systems -- 4.3 Joint and Auxiliary Coordinate Systems -- 4.4 Specifying Data for a Coordinate System -- 4.5 Modeling Dimensional Characteristics of a Body -- 4.6 Modeling Joint Characteristics -- 4.6.1 Helical Joint -- 4.6.2 Revolute Joint -- 4.6.3 Prismatic Joint -- 4.6.4 Cylindric Joint -- 4.6.5 Spheric Joint -- 4.6.6 Flat Joint -- 4.6.7 Rigid Joint -- 4.6.8 Open Joint -- 4.6.9 Parallel-Axis Gear Joint -- 4.6.10 Involute Rack-and-Pinion Joint -- 4.6.11 Straight-Tooth Bevel-Gear Joint -- 4.6.12 Point on a Planar-Curve Joint -- 4.6.13 Line Tangent to a Planar-Curve Joint -- Problems -- 5 Posture Analysis by Kinematic Equations -- 5.1 Introduction -- 5.2 Consecutive Transformations
5.3 Denavit-Hartenberg Transformations -- 5.4 Absolute Position -- 5.5 The Loop-closure Equation (Kinematic Equation for Position Analysis) -- 5.6 Closed-form Solution of Kinematic Equations for Joint-variable Positions -- 5.7 General Styles for Closed-Form Solutions of Kinematic Equations -- References -- Problems -- 6 Differential Kinematics and Numeric Solution of Posture Equations -- 6.1 Introduction -- 6.2 Differential Kinematics of a Helical Joint -- 6.3 Derivative Operator Matrices -- 6.3.1 Helical Joint -- 6.3.2 Revolute Joint -- 6.3.3 Prismatic Joint -- 6.3.4 Cylindric Joint -- 6.3.5 Spheric Joint -- 6.3.6 Flat Joint -- 6.3.7 Rigid Joint -- 6.3.8 Open Joint -- 6.3.9 Parallel-axis Gear Joint -- 6.3.10 Involute Rack-and-Pinion Joint -- 6.3.11 Straight-tooth Bevel-gear Joint -- 6.3.12 Point on a Planar-Curve Joint -- 6.3.13 Line Tangent to a Planar-Curve Joint -- 6.4 Screw Axes and Ball Vectors for Differential Displacements -- 6.5 Numeric Solution of Kinematic Posture Equations -- 6.5.1 Solution for a Nearby Posture -- 6.5.2 Avoiding Convergence to a False Solution -- 6.5.3 Numeric Solution of the Loop-closure Equation -- 6.6 Identification of Generalized Coordinates -- 6.7 Scaling Internal Length Units -- 6.8 Quality Index -- 6.9 Convergence and Robustness -- References -- Problems -- 7 Velocity Analysis -- 7.1 Introduction -- 7.2 Definition of Velocity -- 7.3 First Geometric Derivatives of Joint Variables -- 7.4 Velocities of Joint Variables -- 7.5 First Geometric Derivatives of Body Postures -- 7.6 Velocities of Bodies -- 7.7 First Geometric Derivatives of Point Positions -- 7.8 Velocities of Points -- References -- Problems -- 8 Acceleration Analysis -- 8.1 Definition of Acceleration -- 8.2 Derivatives of the Qh Operator Matrices -- 8.2.1 Helical (Screw) Joint -- 8.2.2 Revolute Joint -- 8.2.3 Prismatic Joint -- 8.2.4 Cylindric Joint
8.2.5 Spheric Joint -- 8.2.6 Flat Joint -- 8.2.7 Rigid Joint -- 8.2.8 Open Joint -- 8.2.9 Parallel-Axis Gear Joint -- 8.2.10 Involute Rack-and-Pinion Joint -- 8.2.11 Straight-Tooth Bevel-Gear Joint -- 8.2.12 Point on a Planar-Curve Joint -- 8.2.13 Line Tangent to a Planar-Curve Joint -- 8.3 Derivatives of the Dh Operator Matrices -- 8.4 Second Geometric Derivatives of Joint Variables -- 8.5 Accelerations of Joint Variables -- 8.6 Second Geometric Derivatives of Body Postures -- 8.7 Second Geometric Derivatives of Point Positions -- 8.8 Accelerations of Bodies -- 8.9 Accelerations of Points -- Reference -- Problems -- 9 Modeling Dynamic Aspects of Mechanisms and Multibody Systems -- 9.1 Introduction -- 9.2 Modeling Kinetic Energy -- 9.3 The Inertia Matrix -- 9.4 Systems of Units -- 9.5 Modeling Gravitational Effects -- 9.6 Modeling Joint Stiffness -- 9.7 Modeling Joint Damping -- 9.8 Modeling Point-to-Point Springs -- 9.9 Modeling Point-to-Point Dampers -- 9.10 Modeling External Forces and Torques Applied with Joint Variables -- 9.11 Modeling External Forces and Torques Applied to Bodies -- References -- Problems -- 10 Dynamic Equations of Motion -- 10.1 Introduction -- 10.2 Lagranges Equation -- 10.3 Generalized Momentum -- 10.4 D'Alembert Inertia Forces -- 10.5 Generalized Restoring Forces -- 10.6 Generalized Applied Forces -- 10.7 Complete Equations of Motion -- References -- Problems -- 11 Linearized Equations of Motion -- 11.1 Introduction -- 11.2 Linearization Assumptions -- 11.3 Linearization -- 11.4 Linearized Equations of Motion -- 11.5 Dynamic Equations with Specified Input Motions -- Problems -- 12 Equilibrium Posture Analysis -- 12.1 Introduction -- 12.2 Seeking a Nearby Posture of Equilibrium -- 12.3 Seeking Equilibrium with Some Generalized Coordinates Specified -- 12.4 Large Increments of the Generalized Coordinates
12.5 Stable versus Unstable Equilibrium -- 12.6 Postures of Neutral Equilibrium -- Reference -- Problem -- 13 Frequency Response of Mechanisms and Multibody Systems -- 13.1 Introduction -- 13.2 Homogeneous First-order Equations of Motion -- 13.3 Modal Coordinates -- 13.4 Laplace Transformed Equations of Motion -- 13.5 Frequency Response -- References -- Problems -- 14 Time Response of Mechanisms and Multibody Systems -- 14.1 Inverse Laplace Transform -- 14.2 Cauchys Residue Theorem -- 14.3 Systems with Repeated Eigenvalues -- 14.4 Time Integration Algorithm -- 14.5 Adaptive Time-step Control -- References -- Problem -- 15 Collision Detection -- 15.1 Introduction -- 15.2 Vertex-Face Contact -- 15.3 Edge-Edge Contact -- 15.4 Finding the Time Increment until Contact -- References -- 16 Impact Analysis -- 16.1 Applied Impulsive Loads -- 16.2 Location and Type of Contact -- 16.3 Simple Impact Model -- 16.4 Impact Model with Tangential Impulse -- 16.5 Impact Model with Normal Torsional Impulse -- 16.6 Impact Model with Moment Impulse -- 16.7 Integrated Model of Impact -- 16.8 Impact Analysis with SGCs -- References -- Problem -- 17 Constraint Force Analysis -- 17.1 Introduction -- 17.2 Fictitious Displacements -- 17.3 Fictitious Derivatives -- 17.4 Lagrange Equation for Constraint Force -- References -- Problems -- Index
This book presents an integrated approach to kinematic and dynamic analysis. Matrix techniques covered are fully applicable to two- or three-dimensional systems
Description based on publisher supplied metadata and other sources
Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2020. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries
鏈接 Print version: Uicker, John J. Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems New York : Cambridge University Press,c2013 9780521761093
主題 Machinery, Dynamics of.;Multibody systems -- Mathematical models.;Dynamics, Rigid -- Mathematics
Electronic books
Alt Author Ravani, Bahram
Sheth, Pradip N
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