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This book is intended as a supplement for undergraduate courses in Kinematics or Dynamics of Mechanisms, taught in Mechanical Engineering departments. As a MATLAB® supplement, it can be used with any standard textbook, including Norton's DESIGN OF MACHINERY Second Edition, Erdman/Sandor's MECHANISMS DESIGN, Third Edition, or Mabie/Reinholtz MECHANISMS AND DYNAMICS OF MACHINERY, Fourth Edition. The emphasis of the text is integrating the computational power of MATLAB® into the analysis and design of mechanisms. This new book in Brooks/Cole's Bookware Companion Series™ is the first to apply the use of MATLAB® 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® (increasingly, the software program of choice among engineers for complex computations) and its accompanying simulation environment, SIMULINK®, to develop powerful and accurate computer simulations of constrained mechanical systems.
- Integrates the use of MATLAB® and SIMULINK® into the kinematics course.
- Introduces the concept of a kinematic simulation for mechanisms.
- Allows for fully dynamic simulations without advanced Lagrangian or Hamiltonian Mechanics.
- Detailed case studies of real engineering problems, using methods described in the text.
- Discusses the role of simulations in the mechanical design process.
Why Simulate Mechanisms? / Kinematic Simulations / Dynamic Simulation of Mechanisms / Cross Reference with Traditional Kinematics Texts / Summary
2. VECTOR LOOP AND VECTOR CHAIN EQUATIONS
Introduction / The Planar Vector / Single Loop Equations / Derivatives of Vectors / Other Common Mechanisms / Vector Chains / Summary
3. SOLUTIONS OF THE POSITION PROBLEM
Overview / 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 / Summary
4. KINEMATIC SIMULATIONS USING SIMULINK®
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 / Summary
5. INTRODUCING DYNAMICS
Introduction / 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 / Summary
6. THE SIMULTANEOUS CONSTRAINT METHOD
Introduction / 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 / Summary
7. SIMULATING MECHANISMS THAT CHANGE
The Geneva Mechanism / Summary
8. TWO-LINK PLANAR ROBOT
Overview / Vector Equations / Dynamic Equations / The Simultaneous Constraint Matrix / Dynamic Simulation / Robot Coordinate Control / Conclusions
9. THE TREBUCHET
Introduction / The Vector Loop / The Equations of Motion / The Matrix Equation / The Dynamic Simulation / Simulation Results / Summary