ME-5654: Multibody Systems Dynamics

Description: Dynamic systems with planar and spatial rigid multibody models. Position and orientation of bodies in space. Holonomic and nonholonomic constraints. Planar and spatial joints. Derive driving constraints. Characterize the manifold using differential geometry. Singular configurations. Kinematics analysis. Equations of motion. Calculate the centroid, moments, and products of inertia. Formulate internal generalized forces. Multibody system dynamics in the ordinary differential equations (ODE) and differential algebraic equations (DAE) formulations. Tangent space ODE and tangent space index 0 formulations for holonomic systems; implement and solve the kinematic and dynamics of rigid multibody systems using numerical methods. Pre: Graduate standing.

Pathways: N/A

Course Hours: 3 credits

Corequisites: N/A

Crosslist: N/A

Repeatability: N/A