Wittenburg Dynamics of Multibody Systems

2. Auflage 2008
ISBN: 978-3-540-73914-2
Verlag: Springer Berlin Heidelberg
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 232 Seiten

Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who's been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Prof. Wittenburg was Professor for Mechanics at University of Karlsruhe. He is still active in research and has been invited to give lectures all over the world.

Autoren/Hrsg.

Wittenburg, Jens

Inhaltsverzeichnis

1;Preface;6
1.1;Preface to the Second Edition;6
1.2;Preface to the First Edition;7
2;Contents;10
3;1 Mathematical Notation;13
4;2 Rigid Body Kinematics;21
4.1;2.1 Generalized Coordinates of Angular Orientation;21
4.2;2.2 Kinematics of Continuous Motion;35
4.3;2.3 Kinematic Differential Equations;44
5;3 Basic Principles of Rigid Body Dynamics;49
5.1;3.1 Kinetic Energy;49
5.2;3.2 Angular Momentum;51
5.3;3.3 Properties of Moments and of Products of Inertia;52
5.4;3.4 Angular Momentum Theorem;56
5.5;3.5 Principle of Virtual Power;59
6;4 Classical Problems of Rigid Body Mechanics;61
6.1;4.1 Unsymmetric Torque-Free Rigid Body;61
6.2;4.2 Symmetric Torque-Free Rigid Body;70
6.3;4.3 Self-Excited Symmetric Rigid Body;72
6.4;4.4 Symmetric Heavy Top;74
6.5;4.5 Symmetric Heavy Body in a Cardan Suspension;82
6.6;4.6 Gyrostat. General Considerations;84
6.7;4.7 Torque-Free Gyrostat;89
7;5 General Multibody Systems;101
7.1;5.1 Definition of Goals;101
7.2;5.2 Elements of Multibody Systems;103
7.3;5.3 Interconnection Structure of Multibody Systems;106
7.4;5.4 Principle of Virtual Power for Multibody Systems;117
7.5;5.5 Systems with Tree Structure;121
7.6;5.6 Systems with Closed Kinematic Chains;141
7.7;5.7 Systems with Spherical Joints;162
7.8;5.8 Plane Motion;187
7.9;5.9 Linear Vibrations of Chains of Bodies;196
8;6 Impact Problems in Multibody Systems;204
8.1;6.1 Basic Assumptions;205
8.2;6.2 Velocity Increments. Impulses;208
8.3;6.3 Analogy to the Law of Maxwell and Betti;210
8.4;6.4 Constraint Impulses and Impulse Couples in Joints;214
8.5;6.5 Chain Colliding with a Point Mass;214
9;Solutions to Problems;220
10;References;225
11;Index;230