Dynamics of mechanical systems

Harold Josephs, Ronald Huston9780849305931, 0-8493-0593-4

Mechanical systems are becoming increasingly sophisticated and continually require greater precision, improved reliability, and extended life. To meet the demand for advanced mechanisms and systems, present and future engineers must understand not only the fundamental mechanical components, but also the principles of vibrations, stability, and balance and the use of Newton’s laws, Lagrange’s equations, and Kane’s methods.Dynamics of Mechanical Systems provides a vehicle for mastering all of this. Focusing on the fundamental procedures behind dynamic analyses, the authors take a vector-oriented approach and lead readers methodically from simple concepts and systems through the analysis of complex robotic and bio-systems. A careful presentation that balances theory, methods, and applications gives readers a working knowledge of configuration graphs, Euler parameters, partial velocities and partial angular velocities, generalized speeds and forces, lower body arrays, and Kane’s equations.Evolving from more than three decades of teaching upper-level engineering courses, Dynamics of Mechanical Systems enables readers to obtain and refine skills ranging from the ability to perform insightful hand analyses to developing algorithms for numerical/computer analyses. Ultimately, it prepares them to solve real-world problems and make future advances in mechanisms, manipulators, and robotics.

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Table of contents :
Front Cover……Page 1
Preface……Page 6
The Authors……Page 10
Contents……Page 12
1. Introduction……Page 20
2. Review of Vector Algebra……Page 34
3. Kinematics of a Particle……Page 76
4. Kinematics of a Rigid Body……Page 96
5. Planar Motion of Rigid Bodies — Methods of Analysis……Page 144
6. Forces and Force Systems……Page 182
7. Inertia, Second Moment Vectors, Moments and Products of Inertia, Inertia Dyadics……Page 218
8. Principles of Dynamics: Newton’s Laws and d’Alembert’s Principle……Page 260
9. Principles of Impulse and Momentum……Page 298
10. Introduction to Energy Methods……Page 340
11. Generalized Dynamics: Kinematics and Kinetics……Page 372
12. Generalized Dynamics: Kane’s Equations and Lagrange’s Equations……Page 434
13. Introduction to Vibrations……Page 458
14. Stability……Page 498
15. Balancing……Page 532
16. Mechanical Components: Cams……Page 558
17. Mechanical Components: Gears……Page 592
18. Introduction to Multibody Dynamics……Page 624
19. Introduction to Robot Dynamics……Page 680
20. Application with Biosystems, Human Body Dynamics……Page 720
Appendices……Page 754
Index……Page 772