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SYDE 652

Dynamics of Multibody Systems

Graduate

Winter 2022

Topics

  • Kinematics and rigid-body dynamics
  • Newton–Euler and Lagrange equations
  • Conventional multibody dynamics
  • Forward and inverse dynamics and singularities
  • Graph-theoretic modelling
  • Numerical simulation in MATLAB, ADAMS and MapleSim
  • Contact dynamics
  • Biomechanics and musculoskeletal models
  • Vehicle dynamics
  • Multiphysics and mechatronics

Readings

  • Computer-Aided Kinematics and Dynamics of Mechanical Systems
    Haug · unspecified
    Allyn and Bacon, 1989; supports Part II.
  • Computer-Aided Analysis of Mechanical Systems
    Nikravesh · unspecified
    Prentice-Hall, 1988
  • Kinematic and Dynamic Simulation of Multibody Systems
    Garcia de Jalón and Bayo · unspecified
    Springer-Verlag, 1994
  • Computational Methods in Multibody Dynamics
    Amirouche · unspecified
    Prentice-Hall, 1992
  • Dynamics of Multibody Systems
    Shabana · 2nd · unspecified
    Cambridge, 1998
  • Mechanism Design: Analysis and Synthesis
    Erdman, Sandor and Kota · 4th · unspecified
    Prentice-Hall, 2001
  • Design of Machinery
    Norton · 2nd · unspecified
    McGraw-Hill, 2001 as cited in the outline
  • Advanced Engineering Dynamics
    Ginsberg · 2nd · unspecified
    Cambridge, 1995
  • Biomechanics of Movement: The Science of Sports, Robotics, and Rehabilitation
    Uchida and Delp · unspecified
    2020
  • Dynamic Modeling of Musculoskeletal Motion
    Yamaguchi · unspecified
    Kluwer, 2001
  • The Multibody Systems Approach to Vehicle Dynamics
    Blundell and Harty · unspecified
    SAE, 2004
  • McPhee, Dynamics of Multibody Systems: Conventional and Graph-Theoretic Methods, SD 652 Course Notes, 2004.
    unspecified
  • Chandrashekar and Savage, Engineering Systems: Modelling, Analysis, and Design, SD 351 Course Notes, 1997.
    unspecified
  • Further research journals listed: Multibody System Dynamics; Mechanics Based Design of Structures and Machines; Journal of Computational and Nonlinear Dynamics.
    unspecified
Sources