Multibody Systems

Course guarantor:

Lecturer:

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Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

The student will be acquainted with the main modern methods of mechanics of multibody systems.

Vector and matrix approaches to kinematic description

Open chain kinematics, lower and higher kinematic pairs, quaternions

Closed loop kinematics

Analytical solvability of kinematics, kinematical accuracy, synthesis and optimization

Singular cases and numerical solution of kinematics

Approaches to dynamic description

Equivalence and interpretation of dynamic descriptions

Descriptions of flexible systems (modal, ANCF and other approaches)

Numerical solution of dynamics

Dynamic accuracy, synthesis and optimization

Effectiveness of formalisms of multibody systems

Modeling of mechanical systems as multibody systems

Requirements:

Syllabus of lectures:

Syllabus of tutorials:

Study Objective:

Study materials:

Stejskal, V. Valasek, M.: Kinematics and Dynamics of Machinery, Marcel Dekker, New York 1996

Shabana, A.A.: Dynamics of Multibody Systems, Cambridge University Press, New York 2013

de Jalon, J.G., Bayo, E.: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge,

Springer Verlag 1994

Bauchau, O.A.: Flexible Multibody Dynamics, Springer 2011

Banerjee, A.K.: Flexible Multibody Dynamics: Efficient Formulations and Applications, John Wiley 2016

odkaz: https://moodle-vyuka.cvut.cz/

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans: