Elastic multibody dynamics. A direct Ritz approach
This textbook is an introduction to and exploration of a number of core topics in the field of applied mechanics. The book consists of introduction, eight chapters and references. In Chapter 2 the axioms and principles are shortly reported, and the central equation is presented. Chapter 3 deals with kinematics and the representation of kinematic chains for moving reference frames. Chapter 4 is devoted to rigid multibody systems. The rigid body is thereby defined such that, by relaxation of rigidity constraints, it can be directly transformed to an elastic body. The model description is then decomposed into subsystems which leads to a minimal representation of the equations of motion. A discussion on a constraint forces completes this chapter. The obtained results are applied to elastic subsystems in Chapter 5. For single elastic body it is shown that non-orthogonal rotation axes resulting from directional derivatives in analytical procedures may cause problems. This justifies the use of the projection equation. In Chapter 6 the weak formulation and the usage of direct Ritz approach, applied to simple elastic body systems, are considered. The developed procedure is applied in Chapter 7 to elastic multibody systems, where the controlled elastic robot serves for a typical example. In Chapter 8, a short excursion into stability and control is made. The book can be used by mechanical engineers, scientists and graduate students.
- Interface reduction methods for mechanical systems with elastohydrodynamic lubricated revolute joints
- Screw and Lie group theory in multibody dynamics
- Port-Hamiltonian flexible multibody dynamics
- The principle of virtual work and Hamilton's principle on Galilean manifolds
- Semi-analytical methods for singularly perturbed multibody system models
- On the choice of boundary conditions for mode shapes in flexible multibody systems
- Mobility of machine-process systems
- Systematic modeling of a chain of N-flexible link manipulators connected by revolute-prismatic joints using recursive Gibbs-Appell formulation
- Moving loads on flexible structures presented in the floating frame of reference formulation
- Multibody system mechanics: modeling, stability, control, and robustness.
- Shape optimization for a link mechanism
- An efficient dynamic modeling method for Reissner-Mindlin plates: a \textit{Projection Equation} approach
- Multiple beam systems. How to obtain the PDEs/BCs? How to solve?
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- Dynamics of an elastic multibody chain: Part B—Global dynamics
- Recursive methods in control of flexible joint manipulators
- On redundancy resolution in minimum-time trajectory planning of robotic manipulators along predefined end-effector paths
- Flexible multibody system modelling of an aerial rescue ladder using Lagrange's equations
- Modelling, simulation and identification of a mobile concrete pump
- Dynamics of a Flexible-hub Geometrically Nonlinear Beam with a Tip Mass
- Efficient dynamic modeling for rigid multi-body systems with contact and impact. An \(\mathrm{O}(n)\) formulation
- Dynamik hybrider Mehrkörpersysteme aus kontinuumsmechanischer Sicht
- Modelling and calibration of a five link elastic boom of a mobile concrete pump
- The implicit inversion method for calculating the forward dynamics input Jacobian
- On an interaction of two elastic bodies: analysis and algorithms
- Infinite-dimensional decentralized damping control of large-scale manipulators with hydraulic actuation
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