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Multibody Dynamics: Co-Requisite: Prerequisite: Data Book / Codes/Standards Course Category Course Designed by Approval

This document provides information about the ME402 Multibody Dynamics course offered by the Department of Mechanical Engineering. The course is designed to teach students how to mathematically model multibody systems and perform kinematic and dynamic analysis of these systems. It will cover topics like formulating constraints, velocity/acceleration analysis of joints, and dynamics of constrained/unconstrained bodies. The course involves 45 lectures across 5 units and is assessed through in-semester tests, quizzes and an end-semester examination.

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Janardhan Vustepalli
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71 views4 pages

Multibody Dynamics: Co-Requisite: Prerequisite: Data Book / Codes/Standards Course Category Course Designed by Approval

This document provides information about the ME402 Multibody Dynamics course offered by the Department of Mechanical Engineering. The course is designed to teach students how to mathematically model multibody systems and perform kinematic and dynamic analysis of these systems. It will cover topics like formulating constraints, velocity/acceleration analysis of joints, and dynamics of constrained/unconstrained bodies. The course involves 45 lectures across 5 units and is assessed through in-semester tests, quizzes and an end-semester examination.

Uploaded by

Janardhan Vustepalli
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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L T P C

ME402 MULTIBODY DYNAMICS


3 0 0 3
Co-requisite: NIL
Prerequisite: NIL
Data Book /
NIL
Codes/Standards
Course Category E PROFESSIONAL ELECTIVE
Course designed by Department of Mechanical Engineering
Approval -- Academic Council Meeting -- , 2016

PURPOSE Most of the real-world systems are made of more than one body connected by various
joints which we call multibody systems. In order analyze the behavior of the systems
under various real-world circumstances, the multibody system has to be reshaped to
its mathematical form. Once we formulate the mathematical model of the multibody
system we can perform various analysis on the system to ensure the sustainability of
the system for real world applications. In this subject the students will learn how to
reshape the multibody system to its mathematical form and they also gets the
knowledge of various techniques that are available for this purpose. The content of
course is useful in various applications like vehicle dynamics, automobiles, robotics and
any field that requires systems of multibody.
LEARNING OBJECTIVES STUDENT
OUTCOMES
At the end of the course, student will be able to
1. Recollect the fundamentals required for studying the Multibody
dynamics.
2. learn the fundamentals required for the kinematic analysis of
multibody system.
3. To make students learn the fundamentals required for the dynamic
analysis of multibody system.
4. Perform the kinematic analysis of multibody systems using the body
coordinate formulation approach.
5. To make the students perform the dynamic analysis of multibody
systems using the body coordinate formulation approach.

C-
Contact
Session Description of Topic D-I- IOs Reference
hours
O
UNIT I 8

INTROUCTION: What is MBD, Applications and scope of


1. 1 C 1 1,5
MBD, Objectives of MBD.

PRELIMINARIES OF MBD: Kinematics- Position,


2. velocity, acceleration 1 C 1-2 1,5

3. momentum, angular momentum. 1 C 1-2 1,5


C,
4. Kinetics- Force, moment, torque, equations of motion. 1 1,3 1,5
D
5. Methods of formulations for MBD. 1 D 2-3 1,5
MATHEMATICAL BACKGROUND FOR MBD:
6. 1 D 2 1,5
Vectors, Scalars, Arrays, Matrix operations,
7. Differentiation of vectors, arrays and matrices 1 D 2-3 1,5
8. Differential equations. 1 D 2-3 1,5
UNIT II: FUNDAMENTALS OF KINEMATICS 6
9. Kinematics of particles 1 C 2 1,5
Kinematics of a rigid body- position, velocity and
10. 1 C, D 2 1,5
acceleration of a rigid body
11. Array of coordinates, degrees of freedom 1 C 2 1,5
12. Constraint equations 1 C 2 1,5
13. kinematics of joints 1 C, D 2 1,5
14. Numerical problems 1 D, I 2 1,5
UNIT III: FUNDAMENTALS OF DYNAMICS 8
Newton's laws of motion- Dynamics of particle and system
15. 1 C 3 1,5
of particles.
16. Dynamics of rigid body- Centroidal equations of motion 1 C 3 1,5

17. Numerical problems 1 D, I 3 1,5

18. Non centroidal equations of motion 1 C 3 1,5


Force elements, Applied forces- Gravitational forces, point
19. to point actuator, point to point spring, point to point 1 D 3 1,5
damper,
20. Combined elements, rotational elements, viscous friction. 1 C 3 1,5
Reaction Force: Method of Lagrange multipliers, Coulomb
21. 1 D 3 1,5
friction.
22. Numerical problems. 1 D, I 3 1,5

UNIT IV- BODY COORDINATE


10
FORMULATION: KINEMATICS
23. General procedure 1 C 4 1,5

24. Formulation of kinematic joint constraints 1 C, D 4 1,5

25. Revolute, translational, composite and rigid joints. 1 C, D 4 1,5

26. Numerical examples. 1 D, I 4 1,5

27. Velocity and acceleration of joint constraints. 1 C 4 1,5

28. Velocity and acceleration of joint constraints. 1 C 4 1,5

29. Numerical examples 1 D, I 4 1,5

30. Formation of system Jacobian. 1 D, I 4 1,5


31. Numerical examples 1 D, I 4 1,5

32. Numerical examples 1 D, I 4 1,5


UNIT V- BODY COORDINATE FORMULATION:
13
DYNAMICS
33. Dynamics of system of un constrained bodies 1 C 5 1,5

34. Dynamics of system of un constrained bodies 1 C 5 1,5

35. Dynamics of two body system 1 D 5 1,5

36. Dynamics of two body system 1 D 5 1,5

37. Dynamics general unconstrained bodies 1 C 5 1,5

Numerical problems.
38. 1 D, I 5 1,5
39. Numerical problems. 1 D, I 5 1,5
40. Dynamics of System of constrained bodies 1 C 5 1,5

41. Dynamics of System of constrained bodies 1 C 5 1,5


Numerical problems.
42. 1 D, I 5 1,5

43. Analysis of MBD system 1 D, I 5 1,5

44. Analysis of MBD system 1 D, I 5 1,5

45. Analysis of MBD system 1 D, I 5 1,5

45

LEARNING RESOURCES
TEXT BOOKS/REFERENCE BOOKS/OTHER READING MATERIAL
1. Parviz E Nikravesh, "Planar Multibody Dynamics: Formulation, programming and
applications", CRC Press, 2007.
2. Ahmed A Shabana, "Dynamics of Multibody systems", Third edition, Cambridge
University Press.
3. Farid Amiroche, "Fundamnetals of Multibody Dynamics: Theory and Applications" ,
Springer Science & Business Media, 2007.
4. Ahmed A. Shabana, Railroad Vehicle Dynamics: A Computational Approach, CRC
Press.
5. Parviz E Nikravesh, "Computer Aided Analyis of Mechanical Systems", Prentice Hall
Publications.
Course nature Theory
Assessment Method (Weightage 100%)
Assessment Cycle test Cycle test Cycle Test Surprise
In- Quiz Total
tool I II III Test
semester
Weightage 10% 15% 15% 5% 5% 50%
End semester examination Weightage : 50%

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