Calculate the dynamics of a multi-body system

Author: Hong Jiazhen
Publisher:
Publish Date: 2002-07-01
Features: A multi-body system refers to a system composed of multiple objects with large-scale relative motion. It serves as the mechanical model for complex mechanical systems such as aerospace vehicles, robots, vehicles, weapons, and mechanisms. This book selects mature achievements in the field of computational dynamics of multi-body systems from both domestic and international sources, compiling the main research results of the author and their research group over 17 years in this area. Categorized according to the author's perspective, it comprehensively covers research methods in rigid-body dynamics and flexible multi-body dynamics. In terms of presentation, it strives for coherence among theoretical derivations, computational methods, and software implementation. The book is divided into four parts.
Part 1 introduces the fundamental knowledge required for this book, including mathematics, rigid-body kinematics, rigid-body dynamics, and numerical methods. Part 2 introduces the description of topological configurations in multi-body systems, the establishment of Lagrange-coordinate-based dynamics equations for rigid-body systems, numerical processing methods, and key points of software implementation. Part 3 introduces the description methods of Cartesian coordinates for rigid-body systems, the assembly and analysis methods of system kinematic constraint equations, the derivation of dynamics equations with Lagrange multipliers, computational methods for dynamics analysis, and key points of software implementation. Part 4 covers rigid-flexible hybrid multi-body dynamics, introducing finite element and modal discretization methods for deformable bodies, forward recursive kinematic relationships for each object in the system based on Cartesian and Lagrange coordinates, the assembly of system dynamics equations based on Lagrange coordinates and modal coordinates, and computational methods and key points of software implementation for open-loop and closed-loop flexible multi-body systems.
This book is an academic work and can serve as a graduate-level textbook for students in fields such as mechanics, mechanical engineering, aerospace, robotics, vehicle engineering, and weapons. It is also suitable for senior undergraduate students, teachers, and researchers or engineering professionals in the aforementioned fields as a reference.