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Full Description
This book is intended as a supplement for undergraduate courses in Kinematics or Dynamics of Mechanisms, taught in Mechanical Engineering departments. As a MATLAB (R) supplement, it can be used with any standard Erdman/Sandor's MECHANISMS DESIGN, Third Edition, or Mabie/Reinholtz text is integrating the computational power of MATLAB (R) into the analysis and design of mechanisms. This new book in Brooks/Cole's Bookware Companion Series (TM) is the first to apply the use of MATLAB (R) to the study of kinematics and dynamics of mechanisms. This book is intended as a useful guide for readers interested in understanding kinematics, or as a reference for practicing mechanical engineers. It provides detailed instruction and examples showing how to use MATLAB (R) (increasingly, the software program of choice among engineers for complex computations) and its accompanying simulation environment, SIMULINK (R), to develop powerful and accurate computer simulations of constrained mechanical systems.
Contents
1. INTRODUCTIONWhy Simulate Mechanisms? / Kinematic Simulations / Dynamic Simulation of Mechanisms / Cross Reference with Traditional Kinematics Texts / Summary2. VECTOR LOOP AND VECTOR CHAIN EQUATIONSIntroduction / The Planar Vector / Single Loop Equations / Derivatives of Vectors / Other Common Mechanisms / Vector Chains / SummaryOverview / Numerical Solutions of Nonlinear Algebraic Equations / The Position Problem of a Four-Bar Linkage / MATLAB Solution of the Position Problem of a Four-Bar Linkage / Position Solutions and Initial Guesses / Summary4. KINEMATIC SIMULATIONS USING SIMULINK (R)What Is a Kinematic Simulation? / Velocity Solution via Kinematic Simulation / Acceleration Solution via Kinematic Simulation / The Consistency Check / Kinematic Simulation of a Four-Bar Mechanism / Summary5. INTRODUCING DYNAMICSIntroduction / Step 1: Simulation of Slider on Inclined Plane / Step 2: Adding the Pendulum / Step 3: Assembling the Matrix Equation / Step 4: Create a Dynamic Simulation / Step 5: Set Initial Conditions and Run Simulation / Summary6. THE SIMULTANEOUS CONSTRAINT METHODIntroduction / Description of the Approach / Application of Simultaneous Constraint Method for the Slider Crank / Dynamic Simulation of the Slider Crank / Simulation Studies of the Slider Crank / Summary7. SIMULATING MECHANISMS THAT CHANGEThe Geneva Mechanism / Summary8. TWO-LINK PLANAR ROBOTOverview / Vector Equations / Dynamic Equations / The Simultaneous Constraint Matrix / Dynamic Simulation / Robot Coordinate Control / Conclusions9. THE TREBUCHETIntroduction / The Vector Loop / The Equations of Motion / The Matrix Equation / The Dynamic Simulation / Simulation Results / Summary
