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MECH 6420 Dynamics of Multibody Systems


MECH 6420 Dynamics of Multibody Systems (3). LEC. 3., Pr. , MECH 3140
Concepts in dynamics of multibody systems such as kinematic analysis, Newton Euler, Lagrange and Kane equations of motion, collisions, and vibrations of flexible links.

Reference:

Textbook: D.B. Marghitu and M.J. Crocker, Analytical Elements of Mechanisms, Cambridge University Press, 2001

A practical introduction to Mathematica

Coordinators:
Dan Marghitu, Ross Hall 305, phone: 844-3335, e-mail: marghitu@eng.auburn.edu, office hours: 9:00-11:00 a.m. TR

Tentative Schedule:

INTRODUCTIONhomework 
RIGID BODY KINEMATICS 
PLANAR RIGID BODY DYMAMICS 
DYNAMIC FORCE ANALYSIS OF MECHANISMS 

Dynamic Force Analysis Example:   FBD of individual links   FBD of dyads   Contour method

Problems (Chapter 9):    text figures 
 

Newton-Euler equations - Example  -  Mathematica program

Laws of motion 

Lagrange's equations - Example 1 

Lagrange's equations - Example 2

Lagrange's equations - Example 3(figure) Kane's equations - Example 1

Three DOF arm

WB01043_.GIF (198 bytes)Mathematica program
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Four DOF robot (homework)

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Collisions

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Multibody systems with elastic links

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Mid term exam (Mathematica program) Fall 2000

Figure

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Example
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Homeworks:

Structural analysis

Force analysis: R-RRT mechanism:  free-body-diagrams dyad diagram

Force analysis: R-RTR mechanism (input data)    solutions:  fbdcontourdyad

Rigid Body Dynamics: Compound pendulum (HTML) - mathematica program
 
 

Exam I: contour methoddyads methodfree-body-diagram method

Exam II: text figure  Solution: Newton Euler (method 1   method 2)
                                          Lagrange



Grading and Evaluation Procedures

Exam I  : 20%
Exam II : 20%
Exam III: 20%
Comprehensive final exam: 20%
Homeworks, quizzes (B.M.E Program Homework Presentation Standard): 20%

Accessibility
It is the policy of Auburn University to provide accessibility to its programs and activities, and reasonable accommodation for persons defined as having a disability under Section 504 of the Rehabilitation Act of 1973, as amended, and the Americans with Disabilities Act of 1990.  Students who need special accommodations should make an appointment to see the instructor as soon as possible or contact the Students with Disabilities Program office at (334) 844-5943 (Voice/TT).
 
 

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