Advanced Design of Mechanical Systems

Cover -- Table of Contents -- Preface -- 1. Planar Multibody Systems -- 1.1. Introduction -- 1.2. Cartesian Coordinates -- 1.3. Kinematic Constraints -- 1.4. Drivers -- 1.5. Solution of the Kinematic Problem -- 1.6. Velocities and Accelerations -- 1.7. Newton8217;s Equation -- 1.8. Forces -- 1.9. Numerical Integration -- 2. Spatial Multibody Systems -- 2.1. Introduction to Spatial Kinematic Constraints -- 2.2. Rotational Coordinates -- 2.3. Kinematic Constraints -- 2.4. Kinematic Joints -- 2.5. Newton-Euler Equations -- 2.6. Forces -- 2.7. Solution of the Equations of Motion -- 3. Synthesis of Mechanisms -- 3.1. Introduction -- 3.2. The Joint Coordinate Method -- 3.3. Optimization Using Time-Varying Design Variables -- 3.4. Optimization Using Dynamics -- 3.5. Synthesis Allowing for Non-Assembly -- 4. Differential-Geometric Aspects of Constrained System Dynamics -- 4.1. Introduction -- 4.2. Unconstrained System Dynamics -- 4.3. Constraint Equations -- 4.4. Constraint Reactions and Constraint Reaction-Induced Dynamic Equations -- 5. Dependent Variable Formulations -- 5.1. Introduction -- 5.2. Governing Equations in DAE Forms -- 5.3. ODE Forms of the Equations of Motion -- 5.4. Constraint Violation Problem -- 5.5. Aspects of Accuracy of Constraint-Consistent Solutions -- 6. Independent Variable Formulation -- 6.1. Introduction -- 6.2. Joint Coordinate Formulation for Open-Loop Systems -- 6.3. Velocity Partitioning Formulation -- 6.4. General Projective Scheme for Independent Variable Formulations -- 6.5. Treatment of Closed-Loop Multibody Systems -- 7. Other Useful Modeling and Simulation Techniques -- 7.1. Introduction -- 7.2. Augmented Lagrangian Formulation -- 7.3. Augmented Joint Coordinate Method -- 8. Sensitivity Analysis: Linear Static Spring Systems -- 8.1. Introduction -- 8.2. Notation -- 8.3. Static Analysis -- 8.4. Solution Strategy -- 8.5. Finite Element Program -- 8.6. Sensitivity Analysis -- 8.7. Sensitivity Computer Program -- 8.8. Optimization Problems -- 9. Sensitivity Analysis: Nonlinear Static Spring Systems -- 9.1. Nonlinear Linear Static Spring Systems -- 9.2. Newton Raphson Method -- 9.3. Sensitivity Analysis: Nonlinear Elastic Static Spring Systems -- 9.4. Transient Problems -- 10. Sensitivity Analysis: Generalized Coordinate Kinematic Systems -- 10.1. Position Analysis -- 10.2. Velocity and Acceleration Analysis -- 10.3. Inverse Dynamic Analysis -- 10.4. Sensitivity Analysis -- 10.5. Conclusion -- 11. Optimization of Mechanical Systems -- 11.1. Introduction -- 11.2. Optimization Algorithms -- 11.3. An Example from Multibody Dynamics -- 11.4. Concluding Remarks -- 12. Using Augmented Particle Swarm Optimization for Constrained Problems in Engineering -- 12.1. The Basic PSO Algorithm -- 12.2. Augmented Lagrange Multiplier Method -- 12.3. Augmented Lagrange Particle Swarm Optimization -- 12.4. Web-Based Optimization with ALPSO -- 12.5. Engineering Example: Hexapod Robot -- 12.6. Concluding Remarks -- 13. Optimization of Mechatronic Systems Using the Software Package NEWOPT/AIMS -- 13.1. Optimization of Mechatronic Systems -- 13.2. Software Package NEWOPT/AIMS -- 13.3. Example: Hexapod Manipulator -- 13.4. Concluding Remarks -- 14. Topology Optimized Synthesis of Planar Kinematic Rigid Body Mechanisms -- 14.1. Topology Re.