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Dynamics Modelling

  • J. Angeles
  • A. Kecskeméthy
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 360)

Abstract

In this chapter, we study the kinematics, statics and dynamics of isolated rigid bodies, which will find applications in studying the dynamics of multibody systems. With regard to kinematics, morevoer, we study both finite and infinitesimal motions, i.e., motions of a rigid body characterized by both finite and infinitesimal displacements of its points. Hence, we assume a certain level of familiarity with basic point mechanics. Furthermore, we will resort to basic linear algebra and will thus assume that the reader has been exposed to this discipline.

Keywords

Multibody System Nonholonomic System Dissipation Function Holonomic System Generalize Active Force 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

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    Kane, T. R. and Levinson, D. A., 1983, “The use of Kane’s dynamical equations in robotics”, The Int. J. Robotics Res., Vol. 2, 3: 3–21.CrossRefGoogle Scholar
  2. 2.
    Angeles, J., and Lee, S. S., 1988, “The formulation of dynamical equations of holonomic mechanical systems using a natural orthogonal complement”, J. Applied Mechanics. Trans. ASME, Vol. 55, pp. 243–244.CrossRefMATHGoogle Scholar
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    Dahlquist, G. and Björck, Å., 1974, Numerical Methods, Prentice-Hall, Inc., Englewood Cliffs.Google Scholar
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    Etter, D. M., 1993, Engineering Problem Solving with Matlab, Prentice-Hall, Inc., Englewood Cliffs.Google Scholar
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    Currie, I. G., 1993, Fundamental Mechanics of Fluids, McGraw-Hill, Inc., New York.Google Scholar

Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • J. Angeles
    • 1
  • A. Kecskeméthy
    • 2
  1. 1.McGill UniversityMontrealCanada
  2. 2.G. Mercator University of DuisburgDuisburgGermany

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