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1、KINEMATICANDDYNAMICSIMULATIONOFMULTIBODYSYSTEMSÐTheReal-TimeChallengeÐJavierGarc’adeJal—n*andEduardoBayo***DepartmentofAppliedMechanicsUniversityofNavarraandCEIT20009SanSebasti‡n,Spain**DepartmentofMechanicalandEnvironmentalEngineeringUniversityofCaliforn
2、iaSantaBarbara,CA93106ThefirstauthordedicatesthisbooktothememoryofProf.F.Tegerizo(1988)whointroducedhimtokinematics.ThesecondauthordedicatesthebooktohiswifeElisabethAnneandchildren:Carolina,Eduardo,Joseph,AnneliseandChristopher.PREFACEThenamemultibodystan
3、dsasageneraltermthatencompassesawiderangeofsystemssuchas:mechanisms,automobilesandtrucks(includingsteeringsys-tems,suspensions,etc.),robots,trains,industrialmachinery(textile,packaging,etc.),spacestructures,antennas,satellites,thehumanbody,andothers.Theus
4、eofcomputeraidedkinematicanddynamicsimulationhasemergedasapowerfultoolfortheanalysisanddesignofmultibodysystemsinfieldssuchasautomobileindustry,aerospace,robotics,machinery,biomechanics,andothers.Theattentionthatithasreceivedrecentlycanbemeasuredbytheamou
5、ntofcomputer-aidedanalysisprogramsproliferatinginthemarketforengineeringsoftware,aphenomenasimilartothatproducedbythefiniteelementmethodintheearlyseventiesforstructuraldesign.Efficientformulationsfordynamicsandreliablecomputationalmethodsplayakeyroleinach
6、ievinggoodsimulationtools.Thepurposeofthisbookistodescribenotonlythecommonlyusedmethodsformultibodykinematicanddynamicsimulation,butalsotheadvancedtopicsandthestateofthearttechniques.Theseincludenumericalmethodsandimproveddynamicformulationsthatallowreal-
7、timesimulationresponse.Therealtimere-sponseinmultibodysimulationisacharacteristicthattheengineeringprofessionisdemandingmoreandmoreforanalysisanddesignpurposes.Theanalystanddesignerareinterestedinvisualizingawholesetofsuccessiveresponsesofamultibodyinreal
8、timeunderdifferentconditions,soastogetaclearpictureoftheactualperformanceofthesystemthatwillhelpthemtooptimizethedesignprocess.Themainfeaturesthatcharacterizethisbookanddistinguishitfromothertextsare:a)Theuseofthena
