Fundamentals Of Multibody Dynamics. Theory And Applications

by Farid Amirouche

Publisher: Birkhäuser
ISBN: 0817642366

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Book Description

Because of its versatility in analyzing a broad range of applications, multibody dynamics has grown in the past two decades to be an important tool for designing, prototyping, and simulating complex articulated mechanical systems. This textbook , a result of the author’s many years of research and teaching, brings together diverse concepts of dynamics, combining the efforts of many researchers in the field of mechanics. Bridging the gap between dynamics and engineering applications such as microrobotics, virtual reality simulation of interactive mechanical systems, nanomechanics, flexible biosystems, crash simulation, and biomechanics, the book puts into perspective the importance of modeling in the dynamic simulation and solution of problems in these fields.

To help engineering students and practicing engineers understand the rigid-body dynamics concepts needed for the book, the author presents a compiled overview of particle dynamics and Newton’s second law of motion in the first chapter. A particular strength of the work is its use of matrices to generate kinematic coefficients associated with the formulation of the governing equations of motion. Additional features of the book include:

• numerous worked examples at the end of each section
• introduction of boundary-element methods (BEM) in the description of flexible systems
• up-to-date solution techniques for rigid and flexible multibody dynamics using finite- element methods (FEM)
• inclusion of MATLAB-based simulations and graphical solutions
• in-depth presentation of constrained systems
• presentation of the general form of equations of motion ready for computer implementation
• two unique chapters on stability and linearization of the equations of motion

Junior/senior undergraduates and first-year graduate engineering students taking a course in dynamics, physics, control, robotics, or biomechanics will find this a useful book with a strong computer orientation towards the subject. The work may also be used as a self-study resource or research reference for practitioners in the above-mentioned fields.

Book Reviews

"This textbook offers a comprehensive exposition of contemporary multibody dynamics elaborated by an expert in and an experienced teacher of the field. There are five features that distinguish this publication: comprehensivity, orientation towards computer implementation, utilization of matrix algebra, teaching-by-examples methodology, and embedding in the author's own research accomplishments.... [T]his is an excellent textbook for undergraduate, graduate, and doctoral students of mechanical engineering, industrial physics and robotics; it may also be recommended as a reference text for researchers in these areas." - Mathematical Reviews

"This is a textbook intended for advanced undergraduate and beginning graduate students studying dynamics, physics, robotics, control, and biomechanics.... The book is well-written with good organization. It has good quality graphics. It clearly represents a considerable effort by the author to present a state-of-the-art exposition. The book should be of interest and use to practitioners and researches as well as students. It brings together methodologies from various fields into a single volume." - Zentralblatt MATH

Customer Reviews

Sadly the reviewer below DO not seem to be technically competent enough to understand that the theory of multi-body dynamics is actually the implementation as multibody formulations are an approach suitable for computational software such as Matlab (with the help of its symbolic toolbox).

There are some small typos, but honestly they do not matter much and are not more then other texts. I was compelled to write a review as I realized the immense value that this book offers for beginners to learn advanced engineering dynamics involving complex multibody systems, suitable for self study. All you need a paper and pen as well as matlab etc to implement your multibody systems of equation, as books leads you from beginning to advanced level required for research or industry.

Now about the BOOK.

This book outline the most systematic approach to model complex multibody systems from kinematics, kinetics to flexible multibody systems in an amazingly comprehensive way. Honestly it is much more comprehensive then Shabana's book and its use of arrays to represent kinematics of open/closed looped multibody system is readily suitable for computational implementations.

Here what the book does.

It begins with where the traditional "dynamics of mechanical systems" such as that covered by Dr. Ginsberg's book. It then outlines a systematic process to represent kinematic of complex multibody systems. Later on rigorous derivation equations of motion using various approaches, along with full chapter to derive generalized forces and a full chapter to represent constraints follows. What's more, the chapter on finite element modeling of flexible multibodies is by far the most comprehensive that there is.