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1、KINEMATICANDDYNAMICSIMULATIONOFMULTIBODYSYSTEMSÐTheReal-TimeChallengeÐJavierGarc’adeJal—n*andEduardoBayo***DepartmentofAppliedMechanicsUniversityofNavarraandCEIT20009SanSebasti‡n,Spain**DepartmentofMechanicalandEnvironmentalEngineeringUniversityofCaliforniaSantaBarbara,CA93106Thefirstauthord
2、edicatesthisbooktothememoryofProf.F.Tegerizo(1988)whointroducedhimtokinematics.ThesecondauthordedicatesthebooktohiswifeElisabethAnneandchildren:Carolina,Eduardo,Joseph,AnneliseandChristopher.PREFACEThenamemultibodystandsasageneraltermthatencompassesawiderangeofsystemssuchas:mechanisms,automo
3、bilesandtrucks(includingsteeringsys-tems,suspensions,etc.),robots,trains,industrialmachinery(textile,packaging,etc.),spacestructures,antennas,satellites,thehumanbody,andothers.Theuseofcomputeraidedkinematicanddynamicsimulationhasemergedasapowerfultoolfortheanalysisanddesignofmultibodysystems
4、infieldssuchasautomobileindustry,aerospace,robotics,machinery,biomechanics,andothers.Theattentionthatithasreceivedrecentlycanbemeasuredbytheamountofcomputer-aidedanalysisprogramsproliferatinginthemarketforengineeringsoftware,aphenomenasimilartothatproducedbythefiniteelementmethodintheearlyse
5、ventiesforstructuraldesign.Efficientformulationsfordynamicsandreliablecomputationalmethodsplayakeyroleinachievinggoodsimulationtools.Thepurposeofthisbookistodescribenotonlythecommonlyusedmethodsformultibodykinematicanddynamicsimulation,butalsotheadvancedtopicsandthestateofthearttechniques.Th
6、eseincludenumericalmethodsandimproveddynamicformulationsthatallowreal-timesimulationresponse.Therealtimere-sponseinmultibodysimulationisacharacteristicthattheengineeringprofessionisdemandingmoreandmoreforanalysisanddesignpurposes.Theanalystanddesignerareinterestedinvisualizingawholesetofsucc
7、essiveresponsesofamultibodyinrealtimeunderdifferentconditions,soastogetaclearpictureoftheactualperformanceofthesystemthatwillhelpthemtooptimizethedesignprocess.Themainfeaturesthatcharacterizethisbookanddistinguishitfromothertextsare:a)Theuseofthena
