Multibody Dynamics A
Description: Multibody Dynamics A is an introductory course in applied dynamics of mechanical systems. The emphasis is on the usage of multibody dynamics software. We want you to learn enough about dynamics in 3D that you will be able to use a standard multibody dynamics software package correctly, appreciate the limitations, and say some sensible things about the model at hand.
In the course you will learn about the fundamentals of Multibody Dynamics: the description of the orientation of a rigid body in space, the Newton-Euler equations of motion for a 3D rigid body, how to add constraints to the equations of motion, and how to solve such a system of coupled equations. You will spend most of the time (80%) in doing the lab assignments. These assignment consists of a number of practical problems that have to be worked out with the software package ADAMS. Your findings are to be put down in a Lab Report.
Goal: By the end of the course you be able to make a complex model of realistic 3D mechanical system and draw some conclusions from the dynamical analysis.
Grading: The written exam is of the open book type and has the form of a questionnaire about the findings as written down in your lab report. The report serves as reference material for your exam. At the end of the exam the questionnaire together with the Lab Report are to be handed over, The final grading is 50% on the report and 50% on the written exam.
- The course Contents.
- The Laboratory Assignments.
- A short Introduction to ADAMS (1,169 KB).
- Slides from Lecture1.pdf
- Slides from Lecture2.pdf and Noteswb1310Lecture2p3-7.pdf.
- Slides from Lecture5.pdf and Lamb1920.pdf
- Tire and Road files for assignment#5: 16r26_new.tir, 18r38_new.tir, FlatRoad.rdf.
- As an example the written exam from 20 june 2006: t20062006eng.pdf
Arend L. Schwab, email@example.com, Monday, 15-17 h., room G-1-350, phone: 015 278 2701.
Anthonie Boogaard, firstname.lastname@example.org, room G-1-130, phone: 015 278 6512.
PC-room 8A-1: Tue 14-17 h.
Tuesday, Nov 13, 2012, 9:45-11:30 u, room 3mE-J.
Unfortunately I could not be present at the first lecture, I had to exemplify a Grant proposal in Utrecht. Siamand stood in for me, and gave a short introduction to the course. He pointed out the website and the course material, advised to team up and start this afternoon.
Tuesday, Nov 20, 2012, 9:45-11:30 u, room 3mE-J.
- Newton-Euler eqn's of motion for a rigid body in space.
I gave a Short introduction to the Multibody Dynamics-A course. Showed as an example the modeling of a bicycle to investigate the inherent stability of the system and how-to-steer a bicycle. Slides are available at Lecture1.pdf, more material can be found at www.bicycle.tudelft.nl
Next I talked about
Newton and Euler,
and presented the Newton-Euler equations of motion for a rigid body in space. Talked about the
Inertia tensor Ic, which changes due to the change in orientation of the body.
Finally you should look at a rather
nice derivation of the Newton-Euler equations of motion by means of the linear
and angular momentum balance. See my slides on
Unfortunately, there was not time to talk about the pencil and paper calculation for Assignment 2-1, the torques on the bicycle front wheel. Please find my notes on that here: Noteswb1310Lecture2p3-7.pdf
Tuesday, Nov 27, 2012, 9:45-11:30 u, room 3mE-J.
- Modeling of mechanical systems.
Today I talked about the third assignments. We discussed the modeling of the
overhead crane and why the container moves. Then we investigated the motion of
an asymmetric loaded container, and addressed the question if it will rotate or
Finally, to show what you can expect at the written exam as an example the one from 2006: t20062006eng.pdf
Tuesday, Dec 4, 2012, 9:45-11:30 u, room 3mE-J.
Sorry, NO Lecture, when I woke up this morning I fell sick.
Tuesday, Dec 11, 2012, 9:45-11:30 u, room 3mE-J.
- Coupled Differential and Algebraic Equations (DAE's).
First I talked about the insides of ADAMS or how ADAMS works, that is: how does ADAMS set up and solve the equations of motion? I demonstrated the method on a simple 2D pendulum. Derived the coupled differential and algebraic equations and discussed the the general approach for 3D multibody dynamics systems. See my notes on lecture5. Finally, talked about assignment 4, the regulator, and discussed, among other things, the stability of the motions, see also Lamb1920.pdf.
Tuesday, Dec 18, 2012, 9:45-11:30 u, room 3mE-J.
- Modeling of mechanical systems.
This is the last lecture. I will talk about assignment #5, a Tractor put to the moose test, and the alternative assignment #5, simulating the motions of an uncontrolled bicycle.
See you all at the written exam, Thursday 24 Jan 2013, 14-17 h. room ?, and please don't forget to bring each of you a copy of your lab report to the exam. This will serve as reference material and each of you have to hand in the copy of your lab report together with your written exam.
This is an example of a written exam: t20062006eng.pdf