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Dynamics and balancing of multibody systems = application to rural and robotic systems /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Dynamics and balancing of multibody systems/ by Himanshu Chaudhary, Subir Kumar Saha, Vinay Gupta.
Reminder of title:	application to rural and robotic systems /
Author:	Chaudhary, Himanshu.
other author:	Saha, Subir Kumar.
Published:	Singapore :Springer Nature Singapore : : 2025.,
Description:	xx, 268 p. :ill., digital ; : 24 cm.;
Contained By:	Springer Nature eBook
Subject:	Multibody systems. -
Online resource:	https://doi.org/10.1007/978-981-97-9384-6
ISBN:	9789819793846

Dynamics and balancing of multibody systems = application to rural and robotic systems /
Chaudhary, Himanshu.

Dynamics and balancing of multibody systemsapplication to rural and robotic systems /[electronic resource] :by Himanshu Chaudhary, Subir Kumar Saha, Vinay Gupta. - Second edition. - Singapore :Springer Nature Singapore :2025. - xx, 268 p. :ill., digital ;24 cm.

Introduction -- Dynamics Of Open-Loop Systems -- Dynamics Of Closed-Loop Systems -- Balancing And Torques/Forces Minimization Of Planar Mechanisms.

The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide better physical insights of the system at-hand. The DeNOC based dynamics formulation of multibody systems is extended from system of continuum rigid-link to discrete equivalent system of point-masses coined as DeNOC-P. The dynamics formulation representing a link as point-masses is exploited to minimize the dynamic quantities shaking forces, shaking moments, or driving torques/forces by optimizing the mass redistribution of the link. Several numerical examples, such as carpet scraping machine, PUMA robot, Stewart platform, etc., are illustrated. The book also demonstrates a shape optimization methodology to realize the link with optimized mass redistribution. This textbook can be prescribed for teaching a course on dynamics and balancing of multibody systems at undergraduate and postgraduate level.

ISBN: 9789819793846

Standard No.: 10.1007/978-981-97-9384-6doiSubjects--Topical Terms:

977329
Multibody systems.

LC Class. No.: TJ170

Dewey Class. No.: 621.811

Dynamics and balancing of multibody systems = application to rural and robotic systems /
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520 $a The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide better physical insights of the system at-hand. The DeNOC based dynamics formulation of multibody systems is extended from system of continuum rigid-link to discrete equivalent system of point-masses coined as DeNOC-P. The dynamics formulation representing a link as point-masses is exploited to minimize the dynamic quantities shaking forces, shaking moments, or driving torques/forces by optimizing the mass redistribution of the link. Several numerical examples, such as carpet scraping machine, PUMA robot, Stewart platform, etc., are illustrated. The book also demonstrates a shape optimization methodology to realize the link with optimized mass redistribution. This textbook can be prescribed for teaching a course on dynamics and balancing of multibody systems at undergraduate and postgraduate level.
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