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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Kinematic Joints Constraints,joint and spherical-spherical joint. In this process, the fundamental issues associated with kinematic constraints are developed, namely the right-hand side of the acceleration constraint equations and the contributions to the Jacobin matrix. The material presented in this chapter is developed under

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Methods to Solve the Equations of Motion,te method, the penalty method and the augmented Lagrangian formulation are revised here. In this process, a general procedure for dynamic analysis of multibody systems based on the standard Lagrange multipliers method is described. Moreover, the implications in terms of the resolution of the equatio

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Integration Methods in Dynamic Analysis,the Euler method, Runge-Kutta approach and Adams predictor-corrector method that allows for the use of variable time steps during the integration process. The material presented here, relative to numerical integration of ordinary differential equations, follows that of any undergraduate text on nume

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Yu. V. Nagaitsev,Yu. V. Podol’skiiects 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