Fundamentals of multibody dynamics. Theory and applications.
This is a textbook intended for advanced undergraduate and beginning graduate students studying dynamics, physics, robotics, control, and biomechanics. It represents a revision and expansion of the author's earlier book [Computational methods in multibody dynamics. Prentice Hall (1991)]. It is based upon the author's teaching and research in multibody dynamics over a period of years. In his preface the author claims that a principal feature of the book is its use of matrix methods for developing the governing dynamical equations. The dynamic analysis is combined with the finite element method (FEM) and boundary element method (BEM) to include studies of flexible multibody systems. Each section includes worked out examples. Applications using MATLAB are presented as well as equations in algorithmic form for computational solutions. The book itself is divided into 12 chapters with the first two chapters providing an overview and review of particle dynamics and rigid body kinematics. The analysis is then extended to multibody systems in the next three chapters. In chapters 6 and 7 the author discusses Hamilton-Lagrange and Gibbs-Appell equations and constrained systems. The remaining chapters are devoted to applications: stability, vibrations, and flexible systems including the integration of FEM and BEM into the analyses. 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 to students. It brings together methodologies form various fields into a single volume. Purchase by libraries is recommended.
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