Computational Dynamics
Chapter One
INTRODUCTION
Modern mechanical and aerospace systems are often very complex and consist
of many components interconnected by joints and force elements such as
springs, dampers, and actuators. These systems are referred to, in modern literature,
as multibody systems. Examples of multibody systems are machines,
mechanisms, robotics, vehicles, space structures, and biomechanical systems.
The dynamics of such systems are often governed by complex relationships
resulting from the relative motion and joint forces between the components of
the system. Figure 1 shows a hydraulic excavator, which can be considered as
an example of a multibody system that consists of many components. In the
design of such a tracked vehicle, the engineer must deal with many interrelated
questions with regard to the motion and forces of different components of the
vehicle. Examples of these interrelated questions are the following: What is the
relationship between the forward velocity of the vehicle and the motion of the
track chains? What is the effect of the contact forces between the links of the
track chains and the vehicle components on the motion of the system? What
is the effect of the friction forces between the track c ... read full excerpt from Computational Dynamics ebook
