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1、PageiiiComputationalDynamicsSecondEditionAhmedA.ShabanaDepartmentofMechanicalEngineeringUniversityofIllinoisatChicagoPageivCopyright©2001byJohnWiley&Sons,Inc.Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystemortransmittedina
2、nyformorbyanymeans,electronic,mechanical,photocopying,recording,scanningorotherwise,exceptaspermittedunderSections107or108ofthe1976UnitedStatesCopyrightAct,withouteitherthepriorwrittenpermissionofthePublisher,orauthorizationthroughpaymentoftheappropriatep
3、er-copyfeetotheCopyrightClearanceCenter,222RosewoodDrive,Danvers,MA01923,(978)750-8400,fax(978)750-4744.RequeststothePublisherforpermissionshouldbeaddressedtothePermissionsDepartment,JohnWiley&Sons,Inc.,605ThirdAvenue,NewYork,NY10158-0012,(212)850-6011,fa
4、x(212)850-6008,E-Mail:PERMREQ@WILEY.COM.Thispublicationisdesignedtoprovideaccurateandauthoritativeinformationinregardtothesubjectmattercovered.Itissoldwiththeunderstandingthatthepublisherisnotengagedinrenderingprofessionalservices.Ifprofessionaladviceorot
5、herexpertassistanceisrequired,theservicesofacompetentprofessionalpersonshouldbesought.ThistitleisalsoavailableinprintasISBN0-471-37144-0FormoreinformationaboutWileyproducts,visitourwebsiteatwww.Wiley.com.PageviiContentsPrefacexi11Introduction1.1Computatio
6、nalDynamics21.2MotionandConstraints41.3DegreesofFreedom61.4KinematicAnalysis91.5ForceAnalysis121.6DynamicEquationsandTheirDifferentForms121.7ForwardandInverseDynamics141.8PlanarandSpatialDynamics161.9ComputerandNumericalMethods181.10Organization,Scope,and
7、NotationsoftheBook20222LinearAlgebra2.1Matrices232.2MatrixOperations252.3Vectors352.4Three-DimensionalVectors452.5SolutionofAlgebraicEquations522.6TriangularFactorization60*2.7QRDecomposition65viiiCONTENTS*2.8SingularValueDecomposition/81Problems/903KINEM
8、ATICS953.1MechanicalJoints/963.2CoordinateTransformation/1043.3Position,Velocity,andAccelerationEquations/1053.4KinematicsofaPointMovingonaRigidBody/1243.5ConstrainedKinematics/1323.6FormulationoftheJointConstraints
