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Rigid Body Dynamics of Mechanisms 2
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The second volume of Rigid Body Dynamics of Mechanisms covers applications via a systematic method for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume (ISBN 3-540-42373-7) that introduces the theoretical mechanical aspects of mechatronic systems. Here the focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, plus active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. The examples included are likely source from which to choose models for university lectures. TOC:Introduction.- Model equations in symbolic DAE and DE form.- Planar models of an unconstrained rigid body.- Planar models of a rigid body under absolute constraints.- Planar models of two rigid bodies under constrained motion.- Spatial models of an unconstrained rigid body.- Spatial models of a rigid body under constrained motion.- Spatial mechanisms with several rigid bodies.- Appendix.
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