MCL738 Dynamics of Multibody Systems
MCL738 Dynamics of Multibody Systems (2-0-2)
Course Coordinator: Prof. S.K. Saha (Room: II-419; Tel: x1135; Email: email@example.com)
Other Teacher: Prof. K. Rama Krishna (Email: firstname.lastname@example.org)
Lectures (Online): Mon 11am-12pm; Thu 12-1pm; Practicals (Online): Wed 10am-12pm
Course (Learning) Objectives
- On successful completion of this course, a student should be able to write efficient and numerically stable computer algorithms for dynamic analyses and realistic simulation of mechanical systems.
- Able to write dynamic equations of motion of a COMPLEX rigid-flexible (deformable) system and apply them for prediction of its behavior and design analyses.
Application of Multibody Dynamics (Chapter 1 of Chaudhary and Saha); Rotational notations (Euler angles, Direction cosines, etc.) (Chapter 5 of Saha’s Intro. to Robotics)
Overview of kinematic descriptions of serial, tree, and closed-loop chains, Degrees of freedom, and Kinematic constraints of rigid and flexible systems; Basics of Euler-Lagrange and other classical dynamic formulations, and those with orthogonal complements; Dynamic algorithms (inverse and forward dynamics); Efficiency and numerical stability aspects of the algorithms; Introduction to commercial software like RecurDyn.
Suggested texts and reference materials
- Chaudhary, H., Saha, S.K., Dynamics and Balancing of Multibody Systems, Springer, 2009
- Saha, S.K., Introduction to Robotics, 2nd Edition, McGraw-Hill, 2014
- Nandihal, P., Mohan, A., and Saha, S.K. Dynamics of Rigid-Flexible Robots and Multibody Systems, Springer, 2021
- Shah, S., Saha, S.K., and Dutt, J.K., 2014, Dynamics of Tree-type Robotic Systems, Springer, 2014
- Shabana, A.A., Dynamics of Multibody Systems, Cambridge Univ. Press, 2005
Practical, Projects, and Quiz: 25
Attendance: Follow institute guidelines
This page contains information about the course contents, etc.