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The book covers a comprehensive range of topics in rigid body mechanics and multi-body systems. It begins with mathematical notation and explores rigid body kinematics, detailing generalized coordinates for angular orientation, including Euler and Bryant angles, and Euler parameters. It discusses angular velocity and its relationships with these coordinates. Basic principles of rigid body dynamics are examined, focusing on kinetic energy, angular momentum, and the properties of moments and products of inertia, including transitions between reference points and bases. The law of moment of momentum and D’Alembert’s principle are also introduced. Classical problems are addressed, such as the dynamics of unsymmetric and symmetric torque-free rigid bodies, including polhodes, permanent rotations, and solutions to Euler’s equations. The text further delves into self-excited symmetric rigid bodies, the symmetric heavy top, and gyrostat dynamics. The section on general multi-body systems discusses equations of motion for tree-structured systems, including various joint types and constraints, and provides programming instructions. It also covers multi-body systems with closed chains and arbitrary constraints. Finally, impact problems in holonomic multi-body systems are analyzed, including basic assumptions, instantaneous velocity increments, and internal impulses in hinges. The book concludes with answers to problems and literatur
Buchkauf
Dynamics of systems of rigid bodies, Jens Wittenburg
- Sprache
- Erscheinungsdatum
- 1977
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