Titlebook: Concepts and Formulations for Spatial Multibody Dynamics; Paulo Flores Book 2015 The Editor(s) (if applicable) and The Author(s), under ex

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Book 2015tems. 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

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Fundamental Concepts in Multibody Dynamics,ects such as degrees of freedom, types of coordinates, basic kinematics joints and types of analysis in multibody systems are briefly characterized. Illustrative examples of application are also presented to better clarify the fundamental issues for spatial rigid multibody systems, which are of cruc

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Kinematic Constraint Equations,lso a brief characterization of the different type of constraints is offered, namely the holonomic and nonholonomic constraints. The kinematic constraints described here are formulated using generalized coordinates. The chapter ends with a general approach to deal with the kinematic analysis of mult