Kinematics and Dynamics of Multibody Systems With Imperfect Joints

by Flores, Paulo; Ambrosio, Jorge; Claro, J. c. Pimenta; Lankarani, Hamid M.

• ISBN13: 9783540743590
• ISBN10: 3540743596
• Format: Hardcover
• Copyright: 2008-03-04
• Publisher: Springer Verlag

Summary

This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.

Table of Contents

Introduction	p. 1
Multibody Systems and the Advent of Computers	p. 1
Multibody System's Equations of Motion	p. 4
Kinematic and Dynamic Analyses of Multibody Systems	p. 6
Multibody Systems with Imperfect Joints	p. 7
Contact Analysis in Multibody Systems	p. 11
References	p. 16
Multibody Systems Formulation	p. 23
Multibody System Definition	p. 24
Cartesian Coordinates	p. 25
Constraints for Revolute and Translational Joints	p. 26
Kinematic Analysis	p. 28
Equations of Motions for a Constrained Multibody System	p. 30
Direct Integration Method of the Equations of Motion	p. 32
Solution Methods that Handle Constraint Violations	p. 34
Baumgarte Stabilization Method	p. 35
Coordinate Partitioning Method	p. 37
Augmented Lagrangian Formulation	p. 39
Application Example: Four-Bar Mechanism	p. 40
Summary	p. 43
References	p. 44
Contact-Impact Force Models for Mechanical Systems	p. 47
Approaches to Contact and Impact of Rigid Bodies	p. 47
Normal Force Models for Spherical Contact Surfaces	p. 49
Normal Contact Force Models for Cylindrical Surfaces	p. 54
Tangential Friction Force Models	p. 57
Numerical Aspects in Contact Analysis	p. 60
Summary	p. 63
References	p. 64
Planar Joints with Clearance: Dry Contact Models	p. 67
Clearance Models	p. 68
Model of Revolute Joint with Clearance	p. 70
Model of Translational Joint with Clearance	p. 74
Application 1: Slider-Crank with Revolute Clearance Joint	p. 80
Application 2: Slider-Crank with Translational Clearance Joint	p. 91
Summary	p. 98
References	p. 99
Lubricated Joints for Mechanical Systems	p. 101
General Issues in Tribology	p. 102
Dynamic Characteristics of Journal-Bearings	p. 103
Hydrodynamic Forces in Dynamic Journal-Bearings	p. 105
Transition Between Hydrodynamic and Dry Contact	p. 110
Kinematic Aspects of the Journal-Bearing Interaction	p. 113
Application Example 1: Simple Journal-Bearing	p. 115
Demonstrative Example 2: Slider-Crank Mechanism	p. 120
Summary	p. 129
References	p. 130
Spatial Joints with Clearance: Dry Contact Models	p. 133
Spatial Multibody Systems	p. 134
Spherical Joint with Clearance	p. 138
Spatial Revolute Joint with Clearance	p. 143
Demonstrative Example 1: Four-Bar Mechanism	p. 153
Demonstrative Example 2: Double Pendulum	p. 158
Demonstrative Example 3: Slider-Crank Mechanism	p. 162
Summary	p. 168
References	p. 169
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