Flexible Multibody Dynamics

  • O. A. Bauchau

Part of the Solid Mechanics and Its Applications book series (SMIA, volume 176)

Table of contents

  1. Front Matter
    Pages 1-20
  2. Basic tools and concepts

    1. Front Matter
      Pages 1-1
    2. O. A. Bauchau
      Pages 3-29
    3. O. A. Bauchau
      Pages 31-55
    4. O. A. Bauchau
      Pages 57-105
    5. O. A. Bauchau
      Pages 107-157
  3. Rigid body dynamics

    1. Front Matter
      Pages 159-159
    2. O. A. Bauchau
      Pages 161-200
    3. O. A. Bauchau
      Pages 201-250
  4. Concepts of analytical dynamics

    1. Front Matter
      Pages 251-251
    2. O. A. Bauchau
      Pages 253-294
    3. O. A. Bauchau
      Pages 295-347
  5. Constrained dynamical systems

    1. Front Matter
      Pages 349-349
    2. O. A. Bauchau
      Pages 351-384
    3. O. A. Bauchau
      Pages 385-424
    4. O. A. Bauchau
      Pages 425-461
    5. O. A. Bauchau
      Pages 463-507
  6. Parameterization of rotation and motion

    1. Front Matter
      Pages 509-509
    2. O. A. Bauchau
      Pages 511-542
    3. O. A. Bauchau
      Pages 543-565
  7. Flexible multibody dynamics

    1. Front Matter
      Pages 567-567
    2. O. A. Bauchau
      Pages 569-599
    3. O. A. Bauchau
      Pages 601-637
    4. O. A. Bauchau
      Pages 639-696
    5. O. A. Bauchau
      Pages 697-701
  8. Back Matter
    Pages 706-731

About this book


The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology.


The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations.


This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.


multibody dynamics

Authors and affiliations

  • O. A. Bauchau
    • 1
  1. 1.School of Aerospace EngineeringGeorgia Institute of TechnologyAtlantaUSA

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 2011
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-94-007-0334-6
  • Online ISBN 978-94-007-0335-3
  • Series Print ISSN 0925-0042
  • Buy this book on publisher's site
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