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Kinematics and dynamics of multibody systems with imperfect joints. Models and case studies. (English) Zbl 1142.70001
Lecture Notes in Applied and Computational Mechanics 34. Berlin: Springer (ISBN 978-3-540-74359-0/hbk). xvi, 169 p. (2008).
The authors present in six chapters an excellent review of dynamics of a collection of bodies acted upon by forces of different origin and interconnected to each other by different joints that constrain the motion.
In Chapter 1 (Introduction) an overview of the 40 year history of solution approaches is presented, starting with traditional graphical and analytical methods for simple cases of mechanisms, ending with a review of several general purpose computer codes (\(\sim\)125 references).
In Chapter 2 (Multi-body system formulation) the authors formulate equations of motion of multi-rigid body systems. The generalized coordinates are centroidal Cartesian coordinates, and the system configuration is restrained by constraint equations. The dynamic formulation uses Newton-Euler equation of motion which are augmented with constraint equations that lead to a system of differential-algebraic equations. Constraint violation stabilization methods and the coordinate partition method are also presented and discussed. An elementary four-bar linkage is used as an example to demonstrate the computational treatment of this type of systems (\(\sim30\) references).
Chapter 3 (Contact-impact force models for mechanical systems) deals with contact-impact force models for both spherical- and cylindrical-shaped surface collisions in multibody mechanical systems. The inclusion of friction forces based on Coulomb friction law is also presented and discussed for effective computational implementation (\(\sim50\) references).
Chapter 4 (Planar joints with clearance: dry contact models) focuses on the modelling of planar clearance joints without lubricant, i.e. revolute and translational joints with clearance. Kinematic aspects of such joints are presented, and the results on a basic slidercrank mechanism with a revolute clearance joint and translational clearance joint are used to discuss the assumptions of the adopted procedures (\(\sim25\) references).
Chapter 5 (Lubricated joints for multi-body systems) covers lubricated models for revolute clearance joints in multibody systems. The squeeze-film and wedge-film actions are considered together with the cavitation effect. Some techniques for modelling and evaluating the forces in lubricated revolute joints are presented and applied to a simple journal-bearing under a constant and unidirectional external loads. A slidercrank mechanism with lubricated resolute joint is considered as a numerical example. Both the effect of clearance size and oil lubricant viscosity effects are studied (\(\sim25\) references).
Chapter 6 (Spatial joints with clearance; dry contact models) describes the modelling of special clearance joints, namely spherical and resolute joints. A quick review of spatial multibody systems is presented, followed by a simple and brief description of perfect spherical and resolute joints. Three simple multibody systems are used as illustrative examples, a spatial four-bar mechanism, a double pendulum and a slider-crank mechanism (5 references).
The primary goal was to present suitable methodologies for dynamic analysis of multibody mechanical systems with imperfect or real joints. It has been accomplished very well. This stimulating book shall be of interest to academics, students and practitioners in mechanical engineering, to researchers in the field and to the teaching staff.
Reviewer: Franz Selig (Wien)

70-02 Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems
70E55 Dynamics of multibody systems
70B15 Kinematics of mechanisms and robots
70F40 Problems involving a system of particles with friction
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