Elastic Multibody Dynamics

This text introduces and explores many core topics in the field of applied mechanics. On the basis of Lagrange's Principle, it presents a Central Equation of Dynamics that yields a unified view on existing methods in dynamics.

1. Background This textbook is an introduction to and exploration of a number of core topics in the ?eld of applied mechanics. Mechanics, in both its theoretical and applied contexts, is, like all scienti?c endeavors, a human construct. It re?ects the personalities, thoughts, errors, and successes of its creators. We therefore provide some personal information about each of these individuals when their names arise for the ?rst time in this book. This should enable the reader to piece together a cultural-historical picture of the ?eld s origins and development. This does not mean that we are writing history. Nevertheless, some remarks putting individuals and ideas in context are necessary in order to make clear what we are speaking about and what we are not speaking about. At the end of the 19th century, technical universities were established eve- where in Europe in an almost euphoric manner. But the practice of technical mechanics itself, as one of the basics of technical development, was in a desolate state, due largely to the refusal of its practitioners to recognize the in?uence of kinetics on motion. They were correct to the extend that then current mechanical systems moved with small velocities where kinetics does not play a signi?cant role. But they had failed to keep up with developments in the science underlying their craft and were unable to keep pace with the speeds of such systems as the steam engine.

   Unified view on methods in dynamics Straight-on generic procedure for rigid and elastic multibody systems Clearly structured mathematical representation Easy physical insight and interpretation Simple algorithms for direct computer use

   Inhalt
   Axioms and Principles.- Kinematics.- Rigid Multibody Systems.- Elastic Multibody Systems The Partial Differential Equations.- Elastic Multibody Systems The Subsystem Ordinary Differential Equations.- Elastic Multibody Systems Ordinary Differential Equations.- A Short Excursion into Stability and Control.