Ebook: Virtual Nonlinear Multibody Systems

This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.

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The four parts of the book - Nonlinear multibody dynamics, Virtual multibody systems, Control design and Mechatronics, and Challenging applications - describe current status of multibody dynamics, with special emphasis on nonlinear systems, virtual reality, and control designs required in mechanics and other applications. Other topics include: nonholonomic systems, flexible multibody systems, contact, impact and collision, numerical methods of differential-algebraic equations, simulation approaches, virtual modelling, mechatronic design, control, biomechanics, space structures and vehicle dynamics.

Readership: This comprehensive summary of current work is suitable for a wide range of interests, from advanced student to researcher.

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The four parts of the book - Nonlinear multibody dynamics, Virtual multibody systems, Control design and Mechatronics, and Challenging applications - describe current status of multibody dynamics, with special emphasis on nonlinear systems, virtual reality, and control designs required in mechanics and other applications. Other topics include: nonholonomic systems, flexible multibody systems, contact, impact and collision, numerical methods of differential-algebraic equations, simulation approaches, virtual modelling, mechatronic design, control, biomechanics, space structures and vehicle dynamics.

Readership: This comprehensive summary of current work is suitable for a wide range of interests, from advanced student to researcher.

Content:
Front Matter....Pages i-xxiv
Non-Linear Dynamics of Multibody Systems with Generalized and Non-Generalized Coordinates....Pages 1-16
Geometrical Interpretation of Multibody Dynamics: Theory and Implementations....Pages 17-36
Virtual Prototyping of Multibody Systems With Linear Graph Theory and Symbolic Computing....Pages 37-56
Impact of Rigid and Flexible Multibody Systems: Deformation Description and Contact Models....Pages 57-81
Model Reduction Techniques in Flexible Multibody Dynamics....Pages 83-102
Unilateral Problems of Dynamics....Pages 103-140
Frictional Contact of Spatial Multibody Systems With Kinematic Loops....Pages 141-154
Virtual Assembly in Multibody Dynamics....Pages 155-172
Numerical Simulation of Flexible Multibody Systems by Using a Virtual Rigid Body Model....Pages 173-186
A Virtual Multibody and Finite Element Analysis Environment in the Field of Aerospace Crashworthiness....Pages 187-212
Virtual Proving Ground Simulation for Highway Safety Research and Vehicle Design....Pages 213-232
Design of Redundant Parallel Robots by Multidisciplinary Virtual Modelling....Pages 233-241
Knowledge Support for Virtual Modelling and Simulation....Pages 243-252
David — A Multybody Virtual Dummy for Vibrational Comfort Analysis of Car Occupants....Pages 253-262
Design of Nonlinear Control of Nonlinear Multibody Systems....Pages 263-278
Control and Optimization of Semi-Passively Actuated Multibody Systems....Pages 279-295
Optimization of Passive and Active Dynamic Systems....Pages 297-316
Symofros: A Virtual Environment for Modeling, Simulation and Real-Time Implementation of Multibody System Dynamics and Control....Pages 317-324
Simulation of an Active Control System in a Hot-Dip Galvanizing Line....Pages 325-332
Multibody System Dynamics in Ocean Engineering....Pages 333-342
Snake-Like Locomotions of Multilink Systems....Pages 343-362
Optimization of Rigid and Flexible Multibody Systems With Application to Vehicle Dynamics and Crashworthiness....Pages 363-382
Multibody System Contact Dynamics Simulation....Pages 383-402
Parallel Computing in the Context of Multibody System Dynamics....Pages 403-410
Coupled Multibody-Aerodynamic Simulation of High-Speed Trains Manoeuvres....Pages 411-418
The Development of a Real-Time Multibody Vehicle Dynamics and Control Model for a Low Cost Virtual Reality Vehicle Simulator: An Application to Adaptive Cruise Control....Pages 419-426
Virtual Reconstruction of Impaired Human Hearing....Pages 427-435
Back Matter....Pages 437-439

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The four parts of the book - Nonlinear multibody dynamics, Virtual multibody systems, Control design and Mechatronics, and Challenging applications - describe current status of multibody dynamics, with special emphasis on nonlinear systems, virtual reality, and control designs required in mechanics and other applications. Other topics include: nonholonomic systems, flexible multibody systems, contact, impact and collision, numerical methods of differential-algebraic equations, simulation approaches, virtual modelling, mechatronic design, control, biomechanics, space structures and vehicle dynamics.

Readership: This comprehensive summary of current work is suitable for a wide range of interests, from advanced student to researcher.

Content:
Front Matter....Pages i-xxiv
Non-Linear Dynamics of Multibody Systems with Generalized and Non-Generalized Coordinates....Pages 1-16
Geometrical Interpretation of Multibody Dynamics: Theory and Implementations....Pages 17-36
Virtual Prototyping of Multibody Systems With Linear Graph Theory and Symbolic Computing....Pages 37-56
Impact of Rigid and Flexible Multibody Systems: Deformation Description and Contact Models....Pages 57-81
Model Reduction Techniques in Flexible Multibody Dynamics....Pages 83-102
Unilateral Problems of Dynamics....Pages 103-140
Frictional Contact of Spatial Multibody Systems With Kinematic Loops....Pages 141-154
Virtual Assembly in Multibody Dynamics....Pages 155-172
Numerical Simulation of Flexible Multibody Systems by Using a Virtual Rigid Body Model....Pages 173-186
A Virtual Multibody and Finite Element Analysis Environment in the Field of Aerospace Crashworthiness....Pages 187-212
Virtual Proving Ground Simulation for Highway Safety Research and Vehicle Design....Pages 213-232
Design of Redundant Parallel Robots by Multidisciplinary Virtual Modelling....Pages 233-241
Knowledge Support for Virtual Modelling and Simulation....Pages 243-252
David — A Multybody Virtual Dummy for Vibrational Comfort Analysis of Car Occupants....Pages 253-262
Design of Nonlinear Control of Nonlinear Multibody Systems....Pages 263-278
Control and Optimization of Semi-Passively Actuated Multibody Systems....Pages 279-295
Optimization of Passive and Active Dynamic Systems....Pages 297-316
Symofros: A Virtual Environment for Modeling, Simulation and Real-Time Implementation of Multibody System Dynamics and Control....Pages 317-324
Simulation of an Active Control System in a Hot-Dip Galvanizing Line....Pages 325-332
Multibody System Dynamics in Ocean Engineering....Pages 333-342
Snake-Like Locomotions of Multilink Systems....Pages 343-362
Optimization of Rigid and Flexible Multibody Systems With Application to Vehicle Dynamics and Crashworthiness....Pages 363-382
Multibody System Contact Dynamics Simulation....Pages 383-402
Parallel Computing in the Context of Multibody System Dynamics....Pages 403-410
Coupled Multibody-Aerodynamic Simulation of High-Speed Trains Manoeuvres....Pages 411-418
The Development of a Real-Time Multibody Vehicle Dynamics and Control Model for a Low Cost Virtual Reality Vehicle Simulator: An Application to Adaptive Cruise Control....Pages 419-426
Virtual Reconstruction of Impaired Human Hearing....Pages 427-435
Back Matter....Pages 437-439
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