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

• Published in: Mechanism and machine theory Vol. 46; no. 2; pp. 168 - 182
• Main Authors: de Jalón, J. García, Callejo, A.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.02.2011; Elsevier
• Subjects: Applied sciences; Computer science; control theory; systems; Control theory. Systems; Dynamic tests; Dynamics; Education; Exact sciences and technology; Fundamental areas of phenomenology (including applications); General aspects; Graduates; Machine components; MATLAB; Mechanical engineering. Machine design; Methodology; Multibody systems; Natural coordinates; Occupational training. Personnel. Work management; Physics; Robotics; Robots; Solid dynamics (ballistics, collision, multibody system, stabilization...); Solid mechanics; Springs and dampers; Students; Teaching methodology; Three dimensional; Teaching methodology; Natural coordinates; Multibody systems; Education; MATLAB; Closed loop; Solid dynamic; N body system; Cartesian coordinate; Mechanical engineering; Modeling; Robotics; Teaching; Vehicle suspension; Programming language; Kinematics; Robot
• ISSN: 0094-114X; 1873-3999
• DOI: 10.1016/j.mechmachtheory.2010.09.008

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.