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    연구동향집 이미지

    Computational Dynamics

    Ahmed A. Shabana|2001.02.01

    PREFACEXI
    INTRODUCTION1(21)
    COMPUTATIONAL DYNAMICS2(2)
    MOTION AND CONSTRAINTS4(2)
    DEGREES OF FREEDOM6(3)
    KINEMATIC ANALYSIS9(3)
    FORCE ANALYSIS12 (1)
    DYNAMIC EQUATIONS AND THEIR DIFFERENT FORMS12 (2)
    FORWARD AND INVERSE DYNAMICS14 (2)
    PLANAR AND SPATIAL DYNAMICS16 (2)
    COMPUTER AND NUMERICAL METHODS18 (2)
    ORGANIZATION, SCOPE, AND NOTATIONS OF THE20 (2)
    BOOK
    LINEAR ALGEBRA22 (73)
    MATRICES23 (2)
    MATRIX OPERATIONS25 (10)
    VECTORS35 (10)
    THREE-DIMENSIONAL VECTORS45 (7)
    SOLUTION OF ALGEBRAIC EQUATIONS52 (8)
    TRIANGULAR FACTORIZATION60 (5)
    QR DECOMPOSITION65 (16)
    SINGULAR VALUE DECOMPOSITION81 (14)
    PROBLEMS90 (5)
    KINEMATICS95 (93)
    MECHANICAL JOINTS96 (8)
    COORDINATE TRANSFORMATION104(1)
    POSITION, VELOCITY, AND ACCELERATION105(19)
    EQUATIONS
    KINEMATICS OF A POINT MOVING ON A RIGID BODY124(8)
    CONSTRAINED KINEMATICS132(4)
    FORMULATION OF THE JOINT CONSTRAINTS136(14)
    COMPUTATIONAL METHODS IN KINEMATICS150(9)
    COMPUTER IMPLEMENTATION159(12)
    KINEMATIC MODELING AND ANALYSIS171(9)
    CONCLUDING REMARKS180(8)
    PROBLEMS181(7)
    FORMS OF THE DYNAMIC EQUATIONS188(29)
    D'ALEMBERT'S PRINCIPLE189(5)
    CONSTRAINED DYNAMICS194(2)
    AUGMENTED FORMULATION196(1)
    ELIMINATION OF THE DEPENDENT ACCELERATIONS197(2)
    EMBEDDING TECHNIQUE199(3)
    AMALGAMATED FORMULATION202(1)
    OPEN AND CLOSED CHAINS203(12)
    CONCLUDING REMARKS215(2)
    PROBLEMS216(1)
    VIRTUAL WORK AND LAGRANGIAN DYNAMICS217(78)
    VIRTUAL DISPLACEMENTS218(3)
    KINEMATIC CONSTRAINTS AND COORDINATE221(12)
    PARTITIONING
    VIRTUAL WORK233(7)
    EXAMPLES OF FORCE ELEMENTS240(16)
    WORKLESS CONSTRAINTS256(1)
    PRINCIPLE OF VIRTUAL WORK IN STATICS257(11)
    PRINCIPLE OF VIRTUAL WORK IN DYNAMICS268(6)
    LAGRANGE'S EQUATION274(5)
    GIBBS-APPEL EQUATION279(1)
    HAMILTONIAN FORMULATION280(6)
    RELATIONSHIP BETWEEN VIRTUAL WORK AND286(9)
    GAUSSIAN ELIMINATION
    PROBLEMS288(7)
    CONSTRAINED DYNAMICS295(83)
    GENERALIZED INERTIA295(6)
    MASS MATRIX AND CENTRIFUGAL FORCES301(6)
    EQUATIONS OF MOTION307(2)
    SYSTEM OF RIGID BODIES309(5)
    ELIMINATION OF THE CONSTRAINT FORCES314(9)
    LAGRANGE MULTIPLIERS323(9)
    CONSTRAINED DYNAMIC EQUATIONS332(7)
    JOINT REACTION FORCES339(3)
    ELIMINATION OF LAGRANGE MULTIPLIERS342(3)
    STATE SPACE REPRESENTATION345(4)
    NUMERICAL INTEGRATION349(9)
    DIFFERENTIAL AND ALGEBRAIC EQUATIONS358(10)
    INVERSE DYNAMICS368(3)
    STATIC ANALYSIS371(7)
    PROBLEMS372(6)
    SPATIAL DYNAMICS378(89)
    GENERAL DISPLACEMENT379(1)
    FINITE ROTATIONS380(8)
    EULER ANGLES388(3)
    VELOCITY AND ACCELERATION391(6)
    GENERALIZED COORDINATES397(4)
    GENERALIZED INERTIA FORCES401(13)
    GENERALIZED APPLIED FORCES414(9)
    DYNAMIC EQUATIONS OF MOTION423(4)
    CONSTRAINED DYNAMICS427(3)
    FORMULATION OF THE JOINT CONSTRAINTS430(9)
    NEWTON-EULER EQUATIONS439(2)
    LINEAR AND ANGULAR MOMENTUM441(2)
    RECURSIVE METHODS443(24)
    PROBLEMS460(7)
    OTHER TOPICS IN SPATIAL DYNAMICS467(26)
    GYROSCOPES AND EULER ANGLES467(5)
    RODRIGUEZ FORMULA472(4)
    EULER PARAMETERS476(3)
    RODRIGUEZ PARAMETERS479(2)
    QUATERNIONS481(4)
    RIGID BODY CONTACT485(8)
    PROBLEMS491(2)
    REFERENCES493(4)
    INDEX497

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