This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.
This book will be particularly useful to those interested in multibody simulation (MBS) and the formulation for the dynamics of spatial multibody systems. The main types of coordinates that can be used in the formulation of the equations of motion of constrained multibody systems are described. The multibody system, made of interconnected bodies that undergo large displacements and rotations, is fully defined. Readers will discover how Cartesian coordinates and Euler parameters are utilized and are the supporting structure for all methodologies and dynamic analysis, developed within the multibody systems methodologies. The work also covers the constraint equations associated with the basic kinematic joints, as well as those related to the constraints between two vectors. The formulation of multibody systems adopted here uses the generalized coordinates and the Newton-Euler approach to derive the equations of motion. This formulation results in the establishment of a mixed set of differential and algebraic equations, which are solved in order to predict the dynamic behavior of multibody systems. This approach is very straightforward in terms of assembling the equations of motion and providing all joint reaction forces. The demonstrative examples and discussions of applications are particularly valuable aspects of this book, which builds the reader’s understanding of fundamental concepts.
This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.
This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.
In his new novel, Paulo Coelho, bestselling author of The Alchemist and Adultery, brings to life one of history's most enigmatic women: Mata Hari. HER ONLY CRIME WAS TO BE AN INDEPENDENT WOMAN When Mata Hari arrived in Paris she was penniless. Within months she was the most celebrated woman in the city. As a dancer, she shocked and delighted audiences; as a courtesan, she bewitched the era’s richest and most powerful men. But as paranoia consumed a country at war, Mata Hari’s lifestyle brought her under suspicion. In 1917, she was arrested in her hotel room on the Champs Elysees, and accused of espionage. Told in Mata Hari’s voice through her final letter, The Spy is the unforgettable story of a woman who dared to defy convention and who paid the ultimate price.
« A, B, C, D... » Quelle est cette voix qui vient troubler la messe de Pâques ? C’est celle d’un enfant qui n’a jamais appris à prier mais qui voudrait bien, lui aussi, parler avec Dieu. Avec les lettres qu’il sait et l’aide de tous les fidèles, il élabore une prière très spéciale. Dans ce conte de Pâques, Paulo Coelho adresse aux petits comme aux plus grands une histoire empreinte de poésie qui montre que la communion et le partage sont un langage universel.
એનો બસ એક જ અપરાધ હતો – એણે `આઝાદ નારી’ તરીકે જીવવાનું પસંદ કર્યું. માતા હારીએ પહેલીવાર પેરિસમાં પગ મુક્યો ત્યારે એના ખિસ્સામાં કાણી કોડીયે નહોતી. અને પછી થોડા જ મહિનામાં એના નામના સિક્કા પડવા લાગ્યા. દર્શકોને એ ડાન્સર તરીકે અણધાર્યા આંચકા આપતી, મંત્રમુગ્ધ કરી દેતી. થોડા જ સમયમાં એણે પોતાની અપ્રતિમ સુંદરતાના જોરે શ્રીમંત અને શક્તિશાળી પુરુષોને પોતાના મોહપાશમાં જકડી લીધા હતા. વિશ્વયુદ્ધનું બ્યુગલ ફૂંકાતાં જ, દેશભરમાં ભય અને શંકાનું મોજું ફરી વળ્યું. વળી, માતા હારીની વૈભવી લાઇફસ્ટાઇલ જ શંકાનું કારણ બને તેવી હતી. .... અને, અચાનક જ એક દિવસે પેરિસની એક વૈભવી હોટેલરૂમમાંથી માતા હારીની ધરપકડ થઈ. આરોપ હતો દેશ સાથે ગદ્દારી અને જાસૂસી કરવાનો. જેલમાંથી માતા હારીએ લખેલા અંતિમ પત્રના આધારે લખાયેલી THE SPY એક એવી અસામાન્ય સ્ત્રીની યાદગાર કથા છે, જેણે સમાજમાં વર્ષોથી ચાલી આવેલા રૂઢિચુસ્ત નિયમો તોડવાની હિંમત કરી હતી. * ‘જકડી રાખે તેવું પુસ્તક’ Times of India * ‘અનોખું, આકર્ષક’ Publishers Weekly * ‘અત્યંત રસપ્રદ કથા’ DNA India * ‘સુંદર રજૂઆત’ A. S. Dulat (ઇન્ટલિજન્સ બ્યૂરોના ભૂતપૂર્વ ડાયરેક્ટર), Outlook
The story of an independent young woman whose life is changed forever by a chance encounter with a childhood friend. This exciting new edition includes exclusive content, such as an interview with the author, in-depth background information on the book, recommended books if you liked this one, and much more.
Andalusian shepherd boy Santiago travels from his homeland in Spain to the Egyptian desert in search of a treasure buried in the Pyramids. Along the way he meets a Gypsy woman, a man who calls himself king, and an alchemist, all of whom point Santiago in the direction of his quest. No one knows what the treasure is, or if Santiago will be able to surmount the obstacles along the way. But what starts out as a journey to find worldly goods turns into a discovery of the treasure found within. Since its first printing The Alchemist has been translated into seventy-one languages and sold forty million copies worldwide, establishing itself as a modern classic that will enchant and inspire readers for generations to come. Beautifully rendered, The Alchemist: A Graphic Novel is a must have for any collector's library. Acclaimed illustrator Daniel Sampere brings Paulo Coelho's classic to new life in this gorgeously illustrated graphic novel adaptation.
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