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Dynamics and Balancing of Multibody Systems : Application to Rural and Robotic Systems / by Himanshu Chaudhary, Subir Kumar Saha, Vinay Gupta

By: Contributor(s): Resource type: Ressourcentyp: Buch (Online)Book (Online)Language: English Publisher: Singapore : Springer Nature Singapore, 2025Publisher: Singapore : Imprint: Springer, 2025Edition: 2nd ed. 2025Description: 1 Online-Ressource(XX, 268 p. 125 illus., 43 illus. in color.)ISBN:
  • 9789819793846
Subject(s): Additional physical formats: 9789819793839 | 9789819793853 | 9789819793860 | Erscheint auch als: 9789819793839 Druck-Ausgabe | Erscheint auch als: 9789819793853 Druck-Ausgabe | Erscheint auch als: 9789819793860 Druck-AusgabeDDC classification:
  • 629.8 23
DOI: DOI: 10.1007/978-981-97-9384-6Online resources: Summary: Introduction -- Dynamics Of Open-Loop Systems -- Dynamics Of Closed-Loop Systems -- Balancing And Torques/Forces Minimization Of Planar Mechanisms.Summary: The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide better physical insights of the system at-hand. The DeNOC based dynamics formulation of multibody systems is extended from system of continuum rigid-link to discrete equivalent system of point-masses coined as DeNOC-P. The dynamics formulation representing a link as point-masses is exploited to minimize the dynamic quantities shaking forces, shaking moments, or driving torques/forces by optimizing the mass redistribution of the link. Several numerical examples, such as carpet scraping machine, PUMA robot, Stewart platform, etc., are illustrated. The book also demonstrates a shape optimization methodology to realize the link with optimized mass redistribution. This textbook can be prescribed for teaching a course on dynamics and balancing of multibody systems at undergraduate and postgraduate level.PPN: PPN: 1918984689Package identifier: Produktsigel: ZDB-2-SEB | ZDB-2-INR | ZDB-2-SXIT
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