Pennsylvania State University 3 credits ME
This course addresses kinematic and dynamic analyses of planar and spatial constrained multibody systems. The first half addresses planar methods while the second half is devoted to extensions for spatial analyses. Kinematic mobility and topology are introduced to help students recognize joint constraints within kinematic chains embedded in larger systems. Joint constraint models using matrix methods are formulated to describe kinematically driven chains. Systemic differential-algebraic equations are then derived that can be used for both inverse dynamics and forward dynamic time integration. Numerical integration methods for time domain simulation are also discussed. Overall goals are for students to be able to identify forward versus inverse dynamic problems; program their own planar and spatial kinematic models; and simulate forward dynamics.
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