Mechanical Systems
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Advanced Dynamics Of Mechanical Systems
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Author : Federico Cheli
language : en
Publisher: Springer
Release Date : 2015-05-29
Advanced Dynamics Of Mechanical Systems written by Federico Cheli and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-05-29 with Technology & Engineering categories.
This book introduces a general approach for schematization of mechanical systems with rigid and deformable bodies. It proposes a systems approach to reproduce the interaction of the mechanical system with different force fields such as those due to the action of fluids or contact forces between bodies, i.e., with forces dependent on the system states, introducing the concepts of the stability of motion. In the first part of the text mechanical systems with one or more degrees of freedom with large motion and subsequently perturbed in the neighborhood of the steady state position are analyzed. Both discrete and continuous systems (modal approach, finite elements) are analyzed. The second part is devoted to the study of mechanical systems subject to force fields, the rotor dynamics, techniques of experimental identification of the parameters and random excitations. The book will be especially valuable for students of engineering courses in Mechanical Systems, Aerospace, Automation and Energy but will also be useful for professionals. The book is made accessible to the widest possible audience by numerous, solved examples and diagrams that apply the principles to real engineering applications.
Mechanical Systems
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Author : Roger F. Gans
language : en
Publisher: Springer
Release Date : 2014-09-02
Mechanical Systems written by Roger F. Gans and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-09-02 with Technology & Engineering categories.
This essential textbook concerns analysis and control of engineering mechanisms, which includes almost any apparatus with moving parts used in daily life, from musical instruments to robots. A particular characteristic of this book is that it presents with considerable breadth and rigor both vibrations and controls. Many contemporary texts combine both of these topics in a single, one term course. This text supports the more favorable circumstance where the material is covered in a one year sequence contains enough material for a two semester sequence, but it can also be used in a single semester course combining two topics. “Mechanical Systems: A Unified Approach to Vibrations and Controls” presents a common notation and approach to these closely related areas. Examples from the both vibrations and controls components are integrated throughout this text.
Mechanical Systems Classical Models
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Author : Petre P. Teodorescu
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-09-24
Mechanical Systems Classical Models written by Petre P. Teodorescu and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-24 with Science categories.
As it was already seen in the first volume of the present book, its guideline is precisely the mathematical model of mechanics. The classical models which we refer to are in fact models based on the Newtonian model of mechanics, on its five principles, i. e. : the inertia, the forces action, the action and reaction, the parallelogram and the initial conditions principle, respectively. Other models, e. g. , the model of attraction forces between the particles of a discrete mechanical system, are part of the considered Newtonian model. Kepler’s laws brilliantly verify this model in case of velocities much smaller than the light velocity in vacuum. The non-classical models are relativistic and quantic. Mechanics has as object of study mechanical systems. The first volume of this book dealt with particle dynamics. The present one deals with discrete mechanical systems for particles in a number greater than the unity, as well as with continuous mechanical systems. We put in evidence the difference between these models, as well as the specificity of the corresponding studies; the generality of the proofs and of the corresponding computations yields a common form of the obtained mechanical results for both discrete and continuous systems. We mention the thoroughness by which the dynamics of the rigid solid with a fixed point has been presented. The discrete or continuous mechanical systems can be non-deformable (e. g.
Geometric Control Of Mechanical Systems
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Author : Francesco Bullo
language : en
Publisher: Springer
Release Date : 2019-06-12
Geometric Control Of Mechanical Systems written by Francesco Bullo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-12 with Science categories.
The primary emphasis of this book is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems. The book is unique in that it presents a unified, rather than an inclusive, treatment of control theory for mechanical systems. A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The book contains extensive examples and exercises, and will be suitable for a growing number of courses in this area. It begins with the detailed mathematical background, proceeding through innovative approaches to physical modeling, analysis, and design techniques. Numerous examples illustrate the proposed methods and results, while the many exercises test basic knowledge and introduce topics not covered in the main body of the text. The audience of this book consists of two groups. The first group is comprised of graduate students in engineering or mathematical sciences who wish to learn the basics of geometric mechanics, nonlinear control theory, and control theory for mechanical systems. Readers will be able to immediately begin exploring the research literature on these subjects. The second group consists of researchers in mechanics and control theory. Nonlinear control theoreticians will find explicit links between concepts in geometric mechanics and nonlinear control theory. Researchers in mechanics will find an overview of topics in control theory that have relevance to mechanics.
Analysis And Control Of Underactuated Mechanical Systems
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Author : Amal Choukchou-Braham
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-11-18
Analysis And Control Of Underactuated Mechanical Systems written by Amal Choukchou-Braham and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-18 with Technology & Engineering categories.
This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Dynamic Response Of Linear Mechanical Systems
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Author : Jorge Angeles
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-09-15
Dynamic Response Of Linear Mechanical Systems written by Jorge Angeles and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-09-15 with Technology & Engineering categories.
Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation can be utilized for a variety of courses, including junior and senior-level vibration and linear mechanical analysis courses. The author connects, by means of a rigorous, yet intuitive approach, the theory of vibration with the more general theory of systems. The book features: A seven-step modeling technique that helps structure the rather unstructured process of mechanical-system modeling A system-theoretic approach to deriving the time response of the linear mathematical models of mechanical systems The modal analysis and the time response of two-degree-of-freedom systems—the first step on the long way to the more elaborate study of multi-degree-of-freedom systems—using the Mohr circle Simple, yet powerful simulation algorithms that exploit the linearity of the system for both single- and multi-degree-of-freedom systems Examples and exercises that rely on modern computational toolboxes for both numerical and symbolic computations as well as a Solutions Manual for instructors, with complete solutions of a sample of end-of-chapter exercises Chapters 3 and 7, on simulation, include in each “Exercises” section a set of miniprojects that require code-writing to implement the algorithms developed in these chapters
Kinematics Of General Spatial Mechanical Systems
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Author : M. Kemal Ozgoren
language : en
Publisher: John Wiley & Sons
Release Date : 2020-04-27
Kinematics Of General Spatial Mechanical Systems written by M. Kemal Ozgoren and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-04-27 with Mathematics categories.
Guide to kinematic theory for the analysis of spatial mechanisms and manipulators Kinematics of General Spatial Mechanical Systems is an effective and proficient guide to the kinematic description and analysis of the spatial mechanical systems such as serial manipulators, parallel manipulators and spatial mechanisms. The author highlights the analytical and semi-analytical methods for solving the relevant equations and considers four main elements: The mathematics of spatial kinematics with the necessary theorems, formulas and methods; The kinematic description of the links and joints including the rolling contact joints; Writing the kinematic chain and loop equations for the systems to be analyzed; and Solving these equations for the unspecified variables both in the forward and inverse senses together with the multiplicity and singularity analyses. Comprehensive in scope, the book covers topics ranging from rather elementary subjects such as spatial mechanisms with single degree of freedom to more advanced topics such as serial manipulators including redundant and deficient ones, parallel manipulators, and non-holonomic spatial cam mechanisms that involve rolling without slipping motions. The author presents an effective and accessible symbolic manipulation method making it possible to obtain neat and transparent expressions that describe the systems showing all the kinematic details. Such expressions readily lead to analytical or semi-analytical solutions. They also facilitate the identification and analysis of the multiplicities and singularities. This all-time beneficial book: Provides an easy-to-use systematic formulation method that is applicable to all sorts of spatial machanisms and manipulators Introduces a symbolic manipulation method, which is effective and straightforward to use, so that kinematic relationships can be simplified by using all the special geometric features of the system Offers an accessible format that uses a systematic and easy-to-conceive notation which has proven successful Presents content written by an author who is a renowned expert in the field Includes an accompanying website Written for academicians, students, engineers, computer scientists and any other people working in the area of spatial mechanisms and manipulators, Kinematics of General Spatial Mechanical Systems provides a clear notation, formulation, and a logical approach to the topic and offers a fresh presentation of challenging material.
Robotic Mechanical Systems Fundamentals
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Author : Shridhar Shastri
language : en
Publisher: Educohack Press
Release Date : 2025-02-20
Robotic Mechanical Systems Fundamentals written by Shridhar Shastri and has been published by Educohack Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-20 with Technology & Engineering categories.
"Robotic Mechanical Systems Fundamentals" serves as a comprehensive guide to understanding the core principles and technological intricacies of robotic systems in today’s rapidly evolving landscape. We offer an in-depth exploration of the mechanical foundations that drive the design, control, and functionality of robots, making it an essential resource for students, researchers, and industry professionals. Our journey begins with a thorough examination of the fundamental concepts and historical developments that shape robotics. Readers will gain insights into the dynamics of robotic systems through the Newton-Euler equations, paving the way for a deeper understanding of the Lagrange formulation, which offers a powerful framework for analyzing robot motion. Focusing on dynamic modeling, we provide a detailed look at the mechanisms governing the behavior of manipulators, emphasizing the complexities involved in designing and controlling robotic arms. Additionally, we address control forces and torques, highlighting strategies to ensure precision and efficiency in robotic actions. With a holistic approach that considers the ethical and societal implications of robotics, "Robotic Mechanical Systems Fundamentals" balances theoretical foundations with practical applications, making it accessible for beginners and valuable for seasoned professionals. Authored by experts, our book equips readers to navigate the fascinating world of robotics, inspiring a deeper appreciation for the technologies that shape our future.
Adaptive Control Of Underactuated Mechanical Systems
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Author : An-chyau Huang
language : en
Publisher: World Scientific
Release Date : 2015-01-29
Adaptive Control Of Underactuated Mechanical Systems written by An-chyau Huang and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-29 with Technology & Engineering categories.
In this book, we collected recent results on the control of underactuated mechanical systems subject to internal uncertainties and external disturbances. The strategy developed is so universal that it is not restricted to a specific system but a large class of underactuated systems. Several benchmark systems are studied in this book, including detailed literature review, system dynamics derivation, control problem formulation, and simulation verification. The control strategy developed in chapter 4 is able to stabilize all these benchmark systems with satisfactory performance regardless of the underactuated dynamics and various uncertainties. The book is written as a text suitable for graduate students in the advanced course for the control of underactuated systems. It also provides valuable tools for researchers and practicing engineers working on the control of underactuated mechanical systems.
Kinematics And Dynamics Of Mechanical Systems
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Author : Kevin Russell
language : en
Publisher: CRC Press
Release Date : 2016-04-05
Kinematics And Dynamics Of Mechanical Systems written by Kevin Russell and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-04-05 with Technology & Engineering categories.
Effectively Apply the Systems Needed for Kinematic, Static, and Dynamic Analyses and DesignA survey of machine dynamics using MATLAB and SimMechanics, Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB and SimMechanics combines the fundamentals of mechanism kinematics, synthesis, statics and dynamics with real-world application