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ComputeraidedKinematicsandDynamicsofMechanicalSystemChapterOne:ElementsofComputer-AidedKinematicsandDynamicsObjectivePresentationofthebasicmethodforthecomputerformulationandsolutionoftheequationsofkinematicsanddynamicsofmechanicalsystem
1.1ScopeofmechanicalsystemkinematicsanddynamicsMechanicalsystem:Acollectionofrigidbodiesthatcanmoverelativetoanother,whichareinterconnectedbyjoints.
ExampleJ1,J2,J3arerevolutejoints,andJ4isatranslationaljointItisacloseloopsystemXY
ThreekinematicconstraintequationsNonlinearalgebraicequationsDegreeoffreedom=1Independentgeneralizedcoordinates:q1RelativecoordinatesXY
EightnonlinearkinematicconstraintequationsGlobalCartesiancoordinatesYX
ThreebasicanalysisKinematicsanalysisDeterminationoftimehistoryofposition,velocityandaccelerationofthebodies.(Independentofthecauseofthemotion)DynamicanalysisStudyontherelationbetweenthethemotionandtheforces(Includingstaticcase)InversedynamicanalysisAhybridformofkinematicsanddynamicanalysisDeterminationoftheforcesthatarerequiredtogeneratetheprescribedmotion
DynamicAnalysisKinematicAnalysisSolvealgebraicequationsSolvecombinationofdifferentialandalgebraicequationslthevectorofLagrangemultiplier
InversedynamicAnalysisSolvealgebraicequationsSolvecombinationofdifferentialandalgebraicequations
SpatialManipulator
SpatialParallelmanipulator
Computeraidedengineering(CAE)Computeraidedmanufacture(CAM)Computeraideddesign(CAD)ComputeraidedDesign(CAd)Computeraidedanalysis(CAA)Computeraidedoptimization(CAO)FiniteelementanalysisKinematicanalysisDynamicanalysisInversedynamicanalysis
NameFormulationmethodResultsDADSNewtonEulerTimehistoryAnimationADAMSFirstLagrangeTimehistoryAnimationFrequencyResponseNEWEULNewtonEulerTimehistoryMEDYNANewtonEulerTimehistoryCADAMBJourdain
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