Titlebook: Computer-Aided Analysis of Rigid and Flexible Mechanical Systems; Manuel F. O. Seabra Pereira,Jorge A. C. Ambrósio Book 1994 Springer Scie

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https://doi.org/10.1007/978-94-011-1166-9Analysis; Halle; Hiehle; construction; design; kinematics; mechanics; modeling; robot; robotics; simulation

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Computational Challenges in Mechanical Systems Simulationdescribe progress which has been made in understanding the formulation of the equations of motion from the viewpoint of numerical stability, outline some of the difficulties which must be resolved for efficient and reliable numerical methods in real-time simulation of mechanical systems, and propose some solutions.

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The Negotiation of the Single European Act,By working with a symbol manipulation computer program created specifically for this purpose, a dynamicist can use a personal computer to analyze motions of mechanical systems in a highly efficient manner. The theory underlying the computer program is discussed, and illustrative examples are presented.

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Constrained Multibody Dynamicss allow explicit elimination of all spatial and dependent joint coordinates yielding a minimal system of highly coupled differential equations. A symbolic recursive algorithm that simultaneously decouples the reduced equations of motion as they are generated, was developed to maximize algorithm para

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Construction of the Equations of Motion for Multibody Dynamics Using Point and Joint Coordinatesions. Then, following a second velocity transformation, these equations are converted to a minimal set of differential equations. The combination of point-and joint-coordinate formulations provides some interesting features.

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