Mechanical system dynamics

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010170089	QA402 P43 2005	Open Access Book	Book	Searching... Unknown
Searching... PSZ JB	30000010197551	QA402 P43 2005	Open Access Book	Book	Searching... Unknown

Mechanics as a fundamental science in Physics and in Engineering deals with interactions of forces resulting in motion and deformation of material bodies. Similar to other sciences Mechanics serves in the world of Physics and in that of Engineering in a di?erent way, in spite of many and increasing inter- pendencies. Machines and mechanisms are for physicists tools for cognition and research, for engineers they are the objectives of research, according to a famous statement of the Frankfurt physicist and biologist Friedrich Dessauer. Physicists apply machines to support their questions to Nature with the goal of new insights into our physical world. Engineers apply physical knowledge to support the realization process of their ideas and their intuition. Physics is an analytical Science searching for answers to questions concerning the world around us. Engineering is a synthetic Science, where the physical and ma- ematical fundamentals play the role of a kind of reinsurance with respect to a really functioning and e?ciently operating machine. Engineering is also an iterative Science resulting in typical long-time evolutions of their products, but also in terms of the relatively short-time developments of improving an existing product or in developing a new one. Every physical or mathematical Science has to face these properties by developing on their side new methods, new practice-proved algorithms up to new fundamentals adaptable to new technological developments. This is as a matter of fact also true for the ?eld of Mechanics.

1 Introduction	p. 1
2 Fundamentals	p. 5
2.1 Basic Concepts	p. 5
2.1.1 Mass	p. 5
2.1.2 Cut Principle and Forces	p. 6
2.1.3 Constraints and Generalized Coordinates	p. 8
2.1.4 Virtual Displacements and Velocities	p. 11
2.2 Kinematics	p. 12
2.2.1 Coordinates	p. 12
2.2.2 Coordinate Transformations	p. 14
2.2.3 Velocities and Accelerations	p. 19
2.2.4 Transformation Chains and Recurrence Relations	p. 25
2.2.5 Kinematics of Systems	p. 29
2.2.6 Parameterized Coordinates	p. 31
2.2.7 Relative Contact Kinematics	p. 36
2.2.8 Influence of Elasticity	p. 47
2.3 Momentum and Moment of Momentum	p. 53
2.3.1 Definitions and Axioms	p. 53
2.3.2 Momentum	p. 54
2.3.3 Moment of Momentum	p. 57
2.3.4 Transformations	p. 59
2.4 Energy	p. 62
2.4.1 Introduction	p. 62
2.4.2 Kinetic Energy	p. 63
2.4.3 Potential Energy	p. 66
2.5 On Contacts and Impacts	p. 68
2.5.1 Phenomena	p. 68
2.5.2 Impact Structure	p. 68
2.5.3 Basic Laws	p. 71
2.5.4 Impact Models	p. 74
2.6 Damping	p. 76
2.6.1 Phenomena	p. 76
2.6.2 Linear Damping	p. 77
2.6.3 Nonlinear Damping	p. 81
3 Constraint Systems	p. 85
3.1 Constraints and Contacts	p. 85
3.1.1 Bilateral Constraints	p. 85
3.1.2 Unilateral Constraints	p. 89
3.2 Principles	p. 100
3.2.1 Introduction	p. 100
3.2.2 Principle of d'Alembert and Lagrange	p. 100
3.2.3 Principle of Jourdain and Gauss	p. 103
3.2.4 Lagrange's Equations	p. 105
3.2.5 Hamilton's Equations	p. 110
3.3 Multibody Systems with Bilateral Constraints	p. 113
3.3.1 General Comments	p. 113
3.3.2 Equations of Motion of Rigid Bodies	p. 115
3.3.3 Order(n) Recursive Algorithms	p. 119
3.3.4 Equations of Motion of Flexible Bodies	p. 124
3.3.5 Connections by Force Laws	p. 128
3.4 Multibody Systems with Unilateral Constraints	p. 131
3.4.1 The General Problem	p. 131
3.4.2 Multibody Systems with Multiple Contacts	p. 134
3.4.3 Friction Cone Linearization	p. 139
3.4.4 Numerical Aspects	p. 145
3.4.5 The Continual Benchmark: Woodpecker Toy	p. 150
3.4.6 Some Empirical Conclusions	p. 155
3.5 Impact Systems	p. 158
3.5.1 General Features	p. 158
3.5.2 Classical Approach	p. 159
3.5.3 Moreau's Measure Differential Equation	p. 170
3.5.4 Energy Considerations	p. 172
3.5.5 Verification of Impacts with Friction	p. 176
3.6 Modeling System Dynamics	p. 183
4 Dynamics of Hydraulic Systems	p. 187
4.1 Introduction	p. 187
4.2 Modeling Hydraulic Components	p. 190
4.2.1 Junctions	p. 190
4.2.2 Valves	p. 193
4.2.3 Hydraulic lines	p. 198
4.3 Hydraulic Networks	p. 201
4.3.1 Solutions	p. 202
4.3.2 Hydraulic Impacts	p. 203
4.4 Practical Examples	p. 204
4.4.1 Hydraulic Safety Brake System	p. 204
4.4.2 Power Transmission Hydraulics	p. 207
5 Power Transmission	p. 213
5.1 Automatic Transmissions	p. 214
5.1.1 Introduction	p. 214
5.1.2 Drive Train Components	p. 216
5.1.3 Drive Train System	p. 227
5.1.4 Measurements and Verification	p. 229
5.1.5 Optimal Shift Control	p. 231
5.2 Ravigneaux Gear System	p. 241
5.2.1 Toothing	p. 242
5.2.2 Ravigneaux Planetary Gear	p. 244
5.2.3 RingGear	p. 246
5.2.4 Ring Gear Coupling	p. 247
5.2.5 Phase Shift of Meshings	p. 249
5.2.6 Equations of Motion	p. 250
5.2.7 Implementation	p. 253
5.2.8 Simulation Results	p. 254
5.3 Tractor Drive Train System	p. 257
5.3.1 Introduction	p. 257
5.3.2 Modeling	p. 259
5.3.3 Numerical and Experimental Results	p. 270
5.4 CVT Gear Systems - Generalities	p. 275
5.4.1 Introduction	p. 275
5.4.2 The Polygonial Frequency	p. 278
5.5 CVT - Rocker Pin Chains- Plane Model	p. 282
5.5.1 Mechanical Models	p. 282
5.5.2 Mathematical Models	p. 288
5.5.3 Some Results	p. 294
5.6 CVT - Rocker Pin Chains-Spatial Model	p. 301
5.6.1 Introduction	p. 301
5.6.2 Mechanical Models	p. 302
5.6.3 Mathematical Models	p. 307
5.6.4 Some Results	p. 312
5.7 CVT - Push Belt Configuration	p. 318
5.7.1 Introduction	p. 318
5.7.2 Models	p. 320
5.7.3 Some Results	p. 327
6 Timing Equipment	p. 329
6.1 Timing Gear of a Large Diesel Engine	p. 329
6.1.1 Modeling	p. 331
6.1.2 Mathematical Models	p. 335
6.1.3 Evaluation of the Simulations	p. 341
6.1.4 Results	p. 342
6.2 Timing Gear of a 5-Cylinder Diesel Engine	p. 346
6.2.1 Introduction	p. 346
6.2.2 Structure and Model of the 5-Cylinder Timing Gear	p. 346
6.2.3 Model of the Ancillary Components	p. 352
6.2.4 Simulation Results	p. 355
6.3 Timing Gear of a 10-Cylinder Diesel Engine	p. 359
6.3.1 Introduction	p. 359
6.3.2 Structure and Model of the 10-Cylinder Timing Gear	p. 359
6.3.3 Simulation Results	p. 362
6.4 Bush and Roller Chains	p. 365
6.4.1 Introduction	p. 365
6.4.2 Mechanical and Mathematical Modeling	p. 366
6.4.3 Results	p. 391
6.5 Hydraulic Tensioner Dynamics	p. 395
6.5.1 Introduction	p. 395
6.5.2 Piston/Cylinder Component	p. 396
6.5.3 Tube Models	p. 397
6.5.4 Leakage Models	p. 398
6.5.5 Check Valves	p. 402
6.5.6 Tensioner System	p. 403
6.5.7 Experiments and Verification	p. 407
7 Robotics	p. 411
7.1 Introduction	p. 411
7.2 Trajectory Planning	p. 413
7.2.1 A Few Fundaments	p. 413
7.2.2 Parametric Path Planning	p. 421
7.2.3 Forces at the Gripper	p. 434
7.2.4 Influence of Elasticity	p. 437
7.3 Dynamics and Control of Assembly Processes with Robots	p. 451
7.3.1 Introduction	p. 451
7.3.2 Matingwith a Manipulator	p. 453
7.3.3 Combined Robot and Process Optimization	p. 476
8 Walking	p. 503
8.1 Motivation, Technology, Biology	p. 503
8.1.1 Motivation	p. 503
8.1.2 Technologies	p. 505
8.1.3 Biology	p. 507
8.2 Walking Dynamics	p. 509
8.2.1 Preliminary Comments	p. 509
8.2.2 Modeling	p. 510
8.2.3 Equations of Motion	p. 523
8.3 Walking Trajectories	p. 528
8.3.1 The Problem	p. 528
8.3.2 Trajectory Generation	p. 528
8.4 The Concept of JOHNNIE	p. 536
8.4.1 Requirements	p. 536
8.4.2 Mechanical Models	p. 536
8.4.3 Sensors	p. 537
8.4.4 Control Concept	p. 539
8.4.5 Some Results	p. 542
References	p. 547
Index	p. 563

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