Introduction to Multibody Dynamics

Links
Course Contents

Multi-body systems and their technical significance, kinematics of individual rigid bodies, rotation matrices, angular velocities, derivatives in different reference systems, relative mechanics, holonomic and non-holonomic constraint equations for closed kinematic chains, Newton-Euler equations, d'Alembert's principle, principle of virtual work, Lagrange equations, Kanes formalism, structure of equations of motion
Language English
Literature

Wittenburg, J.: Dynamics of Systems of Rigid Bodies, Teubner Verlag, 1977
Roberson, R. E., Schwertassek, R.: Dynamics of Multibody Systems, Springer-Verlag,
1988
de Jal'on, J. G., Bayo, E.: Kinematik and Dynamic Simulation of Multibody Systems.
Kane, T.: Dynamics of rigid bodies.

Overview

Objectives

Mechanisms, vehicles, and industrial robots are examples of multibody systems. To simulate dynamic behavior, expressions for kinematic variables and formulations for nonlinear equations of motion are required, which allow for easy transition from one system to another. The lecture provides an introduction to powerful methods. Basically, the first part of the lecture describes kinematics, while the second part deals with various methods for deriving equations of motion.


Contents

  • Multi-body systems  and their technical significance
  • Kinematics of individual rigid bodies
  • Rotation matrices, angular velocities
  • Derivatives in different reference systems
  • Relative mechanics
  • Holonomic and non-holonomic constraint equations for closed kinematic chains
  • Newton-Euler equations
  • d'Alembert's principle
  • Principle of virtual work
  • Kane formalism
  • Lagrange equations
  • Structure of the equations of motion

 

Recommended Literature

  • Woernle: Mehrkörpersysteme, Springer 2011
  • Wittenburg: Dynamics of Multibody Systems, Springer 2008
  • Hibbeler: Technische Mechanik 3 Dynamik, Pearson, 2012
  • Marguerre: Technische Mechanik III, Heidelberger Taschenbücher 1968
  • Magnus: Kreisel, Theorie und Anwendung, Springer 1971
  • Klotter: Technische Schwingungslehre 1. Bd. Teil A, Springer, 1978
  • de Jalon & Bayo: Kinematic and Dynamic Simulation of Multibody Systems, Springer 1994
  • Roberson & Schwertassek: Dynamics of Multibody Systems, Springer, 1988

 

Workload

  • In presence: 21,5h; Self study: 98h

 

Type of exam

  • Written exam
    Further information can be found on the exam webpage