Simulations of machines using MATLAB and Simulink

Title:

Personal Author:

Gardner, John F. (John Francis), 1958-

Series:

Bookware companion series

Publication Information:

Pacific Grove, CA : Brooks/Cole, 2001

ISBN:

9780534952792

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010120463	TJ153 G37 2001	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010120462	TJ153 G37 2001	Open Access Book	Book	Searching... Unknown

This book is intended as a supplement for undergraduate courses in Kinematics or Dynamics of Mechanisms, taught in Mechanical Engineering departments. As a MATLAB supplement, it can be used with any standard textbook, including Norton's DESIGN OF MACHINERY Second Edition, Erdman/Sandor's MECHANISMS DESIGN, Third Edition, or Mabie/Reinholtz MECHANISMS AND DYNAMICS OF MACHINERY, Fourth Edition. The emphasis of the text is integrating the computational power of MATLAB into the analysis and design of mechanisms. This new book in Brooks/Cole's Bookware Companion Series� is the first to apply the use of MATLAB to the study of kinematics and dynamics of mechanisms. This book is intended as a useful guide for readers interested in understanding kinematics, or as a reference for practicing mechanical engineers. It provides detailed instruction and examples showing how to use MATLAB (increasingly, the software program of choice among engineers for complex computations) and its accompanying simulation environment, SIMULINK, to develop powerful and accurate computer simulations of constrained mechanical systems.

Author Notes

John Gardner was born in 1933 and raised outside of Batavia, New York and graduated from Batavia High School in 1951. He was a poet, novelist, dramatist, translator and teacher as well as composing operas, librettos and paintings.

Gardner wrote three works on the art of writing, which were "On Becoming a Novelist," "The Art of Fiction," and "On Moral Fiction." He also wrote the children's story "Dragon, Dragon" and the play "Days of Vengeance," which he wrote for his mother Priscilla.

John C. Gardner died in 1982.

(Bowker Author Biography)

Chapter 1 Introduction and Overview	p. 1
1.1 Why Simulate Mechanisms?	p. 1
1.2 Kinematic Simulations	p. 2
1.3 Dynamic Simulation of Mechanisms	p. 3
1.4 Summary	p. 4
Chapter 2 Vector Loop and Vector Chain Equations	p. 5
2.1 Introduction	p. 5
2.2 The Planar Vector	p. 5
2.3 Single Loop Equations	p. 6
2.4 Derivatives of Vectors	p. 8
Example 2-1	p. 10
2.5 Other Common Mechanisms	p. 11
2.6 Vector Chains	p. 11
2.6.1 Two-Link Planar Robot	p. 13
2.6.2 Vector Chains to Describe Motion of an Arbitrary Point	p. 14
2.7 Summary	p. 16
Chapter 2 Problems	p. 16
Chapter 3 Solutions of the Position Problem	p. 18
3.1 Overview	p. 18
3.2 Numerical Solutions of Nonlinear Algebraic Equations	p. 18
3.3 The Position Problem of a Four-Bar Linkage	p. 20
3.4 Matlab Solution of the Position Problem of a Four-Bar Linkage	p. 21
3.5 Position Solutions and Initial Guesses	p. 23
Example 3-1	p. 24
3.6 Summary	p. 27
Chapter 3 Problems	p. 27
Chapter 4 Kinematic Simulations Using Simulink	p. 28
4.1 What Is a Kinematic Simulation?	p. 28
4.2 Velocity Solution via Kinematic Simulation	p. 28
4.2.1 Vector Loop Equations for the Slider Crank	p. 28
4.2.2 Simulink Simulation of the Slider-Crank Kinematics	p. 30
4.2.3 Establishing Initial Conditions	p. 33
4.2.4 Simulation Results	p. 35
4.3 Acceleration Solution via Kinematic Simulation	p. 38
4.3.1 Including Acceleration in the Simulation	p. 38
4.3.2 Running the Slider-Crank Simulation	p. 40
Example 4-1	p. 40
Example 4-2	p. 41
4.4 The Consistency Check	p. 44
4.5 Kinematic Simulation of a Four-Bar Mechanism	p. 46
Example 4-3	p. 48
4.6 Summary	p. 51
Chapter 4 Problems	p. 51
Chapter 5 Introducing Dynamics	p. 53
5.1 Overview	p. 53
5.2 Step 1: Simulating the Slider on Inclined Plane	p. 53
5.3 Step 2: Adding the Pendulum	p. 56
5.4 Step 3: Assembling the Matrix Equation	p. 58
5.5 Step 4: Creating a Dynamic Simulation	p. 58
5.6 Step 5: Setting Initial Conditions and Running Simulation	p. 60
5.7 Summary	p. 61
Chapter 5 Problems	p. 62
Chapter 6 The Simultaneous Constraint Method	p. 65
6.1 Introduction	p. 65
6.2 Description of the Approach	p. 65
6.2.1 Force Equation	p. 66
6.2.2 Vector Loop Equations	p. 67
6.2.3 Vector Equations for COM Accelerations	p. 67
6.2.4 Implementation of the Dynamic Simulation	p. 68
6.3 Application of Simultaneous Constraint Method for the Slider Crank	p. 69
6.3.1 The Force Equations	p. 69
6.3.2 The Vector Loop Equations	p. 71
6.3.3 Center-of-Mass Accelerations	p. 71
6.3.4 Assembling the System of Equations	p. 72
6.4 Dynamic Simulation of the Slider Crank	p. 73
6.5 Simulation Studies of the Slider Crank	p. 76
6.6 Summary	p. 80
Chapter 6 Problems	p. 80
Chapter 7 Two-Link Planar Robot	p. 82
7.1 Overview	p. 82
7.2 Vector Equations	p. 82
7.3 Dynamic Equations	p. 83
7.4 The Simultaneous Constraint Matrix	p. 85
7.5 Dynamic Simulation	p. 86
7.6 Robot Coordinate Control	p. 90
7.7 Summary	p. 90
Chapter 7 Problems	p. 90
Chapter 8 Simulating Mechanisms That Change	p. 91
8.1 The Geneva Mechanism	p. 91
8.2 Summary	p. 97
Chapter 9 The Trebuchet	p. 98
9.1 Introduction	p. 98
9.2 The Vector Loop	p. 100
9.3 The Equations of Motion	p. 101
9.4 The Matrix Equation	p. 102
9.5 The Dynamic Simulation	p. 103
9.6 Simulation Results	p. 106
9.7 Summary	p. 106
Chapter 9 Problems	p. 108
Appendix Simulink Tutorial	p. 109
A.1 Starting Simulink	p. 109
A.2 Building a Simple Model	p. 110
A.3 Running the Simulation	p. 113
A.4 Simulation Run-Time Parameters	p. 113
A.5 Initial Conditions	p. 115
A.6 Multiplexing Signals	p. 117
A.7 Simulink and Matlab: Returning Data to the Workspace	p. 119
A.8 Using the Matlab plot command	p. 121
A.9 Using Matlab Functions in Simulink	p. 123
A.9.1 An Aside: Matlab Functions	p. 123
A.9.2 Calling Functions from Simulink	p. 126
A.9.3 Using Multiple Inputs and Outputs	p. 128
A.10 Concluding Remarks	p. 133
Index	p. 135

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Summary

Summary

Author Notes

Table of Contents