This course provides a natural continuation of
the course INGE 3032 (Engineering Mechanics: Dynamics). The main extension is
advanced three-dimensional kinematics and dynamics, with illustrations of
application to engineering problems. Additionally, this course is intended to
serve as a bridge between a course on elementary dynamics of planar rigid
bodies (e.g. INGE 3032) and a general-purpose computer-based course on flexible
multibody dynamics (e.g. INME 5530). It is designed to equip students with
fundamental theories and computational methodologies that are used in the
analysis of rigid multibody systems. The emphasis is on an integrated
understanding of: (i) modeling, (ii) modern vector/analytical
rigid body dynamics equation formulation for complex systems, and (iii)
computational solution techniques applied to mechanical multibody systems.
Students will learn how to analytically formulate equations of motion for
multibody systems as well as how to utilize numerical algorithms to simulate
such systems. In this way the students will learn to resolve real-world
problems in areas of engineering such as mechanical, aerospace, robotics,
biomechanical, and mechatronics. The course provides an in-depth coverage of fundamental
concepts on Newton/Euler and Lagrangian formulations for three-dimensional
motions of rigid bodies and systems of rigid bodies, rotating reference frames,
generalized coordinates and speeds, generalized forces, analytical and
computational determination of inertia properties, Hamilton’s Principle, Kane’s
method, conservation laws, holonomic and nonholonomic constraints, constraint
processing, force elements for linear as well as rotational actuators,
numerical integration algorithms, and computational simulation. The mathematical
tools required to describe spatial motion of a rigid body will be presented in
full. The subject matter is particularly relevant to applications
comprised of interconnected and constrained discrete mechanical components. Computerized
symbolic manipulation and time integration methods for dynamic analysis will be
exercised. Although the content of the course is limited to rigid-body
kinematics and dynamics, the principles can be adapted for application to more
complicated problems, including those with deformable members. A solid
understanding of the principles of dynamics in the context of modern analytical
and computational methods is aimed.
- Profesor: SERGIO PREIDIKMAN--