Flexible Multibody Dynamics
The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unifie
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SOLID MECHANICS AND ITS APPLICATIONS Volume 176
Series Editor:
G.M.L. GLADWELL Department of Civil Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3GI
Aims and Scope of the Series The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids. The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural control and stability; soils, rocks and geomechanics; fracture; tribology; experimental mechanics; biomechanics and machine design. The median level of presentation is the first year graduate student. Some texts are monographs defining the current state of the field; others are accessible to final year undergraduates; but essentially the emphasis is on readability and clarity.
For other titles published in this series, go to www.springer.com/series/6557
O. A. Bauchau
Flexible Multibody Dynamics
1C
O. A. Bauchau Georgia Institute of Technology School of Aerospace Engineering Ferst Dr. 270 30332-0150 Atlanta Georgia USA [email protected]
ISSN 0925-0042 ISBN 978-94-007-0334-6 e-ISBN 978-94-007-0335-3 DOI 10.1007/978-94-007-0335-3 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2010938509 © Springer Science+Business Media B.V. 2011 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Cover Design: CREST Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To my wife, Yi-Ling, and my family
Preface
Multibody dynamics analysis was originally developed as a tool for modeling rigid multibody systems with simple tree-like topologies, but has considerably evolved to the point where it can handle linearly and nonlinearly elastic multibody systems with arbitrary topologies. It is now used widely as a fundamental design tool in many areas of engineering. This textbook has emerged over the past two decades from efforts to teach graduate courses in advanced dynamics and ƀexible multibody dynamics to engineering students. Although this book reviews the basic principles of dynamics, it is assumed that students enrolling in these graduate courses have completed a comprehensive set of undergraduat
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