A straight methodology to include multibody dynamics in graduate and undergraduate subjects

作者：Garcia de Jalon J; Callejo A

来源：Mechanism and Machine Theory, 2011, 46(2): 168-182.

DOI：10.1016/j.mechmachtheory.2010.09.008

• Multibody systems
• Teaching methodology
• Education
• Natural coordinates
• MATLAB

Multibody dynamics discipline is so mature and has so many applications in the industry, that currently it is essential for mechanical engineering students to learn its basic theoretical foundations. However, universities cannot always integrate the matter as a standalone subject. This article presents an efficient methodology to teach kinematic and dynamic analysis of 3D multibody systems in courses with severe time constraints. A simple theoretical approach (the natural or fully Cartesian coordinates) and a high level programming language (MATLAB) are used. The theory level is shown with two examples: a closed-chain 3D robot and a McPherson car suspension system. Several real exam exercises at the end illustrate the skills acquired by the students in courses of 12 h of theory and 15 h of personal work. This methodology overcomes the limitation of time and the complexity of the issue, and turns out to be one of the simplest approaches to teach multibody systems theory in short graduate or undergraduate courses.

• 出版日期2011-2