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MFM120 Multibody Dynamics Version: 2007-10-27 22:16:33
Semester:1 (MFM1)
Language:EN
WH:4 (2V 2U)
ECTS:5 CP
Turnus:WS,SS
Goals and Objectives:
  • Students will be able to
  • - understand the motion of rigid and flexible multibody systems attached by mechatronic components
  • - setup small multibody models using Math programs and MBS programs
  • - interpretate the results of multibody dynamics and mechatronic systems
Description:Part I - Rigid Body Dynamics
1 Introduction to Flexible Multibody Dynamics
1.1 Introduction
1.2 Multibody System Characterization
1.3 Overview of Multibody System Programs
1.4 Multibody System Applications
1.5 Notations
1.6 Standard Tables
2 The Multibody Programs e.g. SIMPACK
2.1 Introduction
2.2 A First Model - Pendulum
2.3 A Rigid MBS of Three Bodies
3 Kinematics of Rigid Multibody Systems
3.1 Basic Kinematics
3.2 Velocity and Acceleration of a Rigid Body
3.3 Velocity and Acceleration of an Additional Body Frame
3.4 Kinematics of a Rigid Body Using a MBS Notation
3.5 State Variables of a Rigid Body
3.6 Relative Kinematics of Body Interaction Elements
4 Dynamics of Rigid Multibody Systems
4.1 Linear and Angular Momentum, Rigid Body Data
4.2 Dynamical Equations of Motion of a Rigid Body
4.3 Constraint Equations of Joints
4.4 Multibody System Equations of Motion
4.5 Consideration of Force Elements
4.6 Applications II

Part II - Flexible Body Dynamics
5 Introduction to Flexible Body Modeling
5.1 Basics on Continuum Mechanics
5.2 Summarizing Solution Methods
5.3 Comparison of MBS and FEM Modeling
6 Mechanics of Elastic Bodies
6.1 Motion, Deformation and Strain Tensors
6.2 Definition of Stress Tensors
6.3 Material laws – Constitutive Equations
6.4 Elastic Potential and Virtual Work
6.5 Equations of Elastic Body Motion
6.6 Example: Bending of a Cantilever Beam
7 Introduction to Finite Element Method
7.1 The Ritz Approximation
7.2 Finite Elements and Interpolation Functions
7.3 Finite Element Structure (FE-Mesh)
7.4 Equations of Motion
7.5 Adding Damping and Nonlinear Strain Models
7.6 Problem Categories and Solutions
7.7 Example Elastic Triangle
8 Elastic Body Modeling in Multibody Systems
8.1 Modeling Assumptions
8.2 Conditions for the Floating Frame of Reference
8.3 Ritz Approximation for Deformations
8.4 Equations of Motion
8.5 Application Triangle
8.6 A Elastic MBS of Three Bodies
8.7 Satellite with Kinematical Driven Elastic Arms
9 Generation of Elastic Body Data and Applications
9.1 The SID-File
9.2 Computation of Standard Input Data in Modal Approximation
9.3 SID Processing in SIMPACK
9.4 Mode Selection
9.5 Example Rotating Triangle with Spring
Text books:
  • Schwertassek,R. and Wallrapp,0., (1999) Mehrkörperdynamik, Vieweg
  • Schabana, A. (1998) Dynamics of Multibody Systems, Cambridge Univ Press
Prereqs acc. SPO:Keine
Prereqs recommended:
Required for:
Teaching methods:Lessons with exercises and project
Work load:150 h, of which:
30 h seminaristic teaching
30 h exercises
33 h
57 h individual work
Exam:50% KL: 90'; 50% PA: PA
Responsible:Prof. Dr. Wiedemann
Teachers:Prof. Dr. Wiedemann

 

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