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Table of Contents
Preface 2nd edition; Preface; Contents; Nomenclature and Definitions; Variables and Physical Quantities; Special Notation for Physical Vectors; Examples for Subscriptions; Examples for "Physical" Vectors and Their Representation; Scalars; Vectors and Matrices; Trigonometric Functions; 1 Introduction; 1.1 Problem Definition; 1.1.1 Modeling Technical Systems; 1.1.2 Definition of a System; 1.1.3 Simulation and Simulation Environment; 1.1.4 Vehicle Models; 1.2 Complete Vehicle Model; 1.2.1 Vehicle Models and Application Areas; 1.2.2 Commercial Vehicle Simulation Systems; 1.3 Outline of the Book.
1.4 Webpage of the BookReferences; 2 Fundamentals of Mathematics and Kinematics; 2.1 Vectors; 2.1.1 Elementary Algorithms for Vectors; 2.1.2 Physical Vectors; 2.2 Coordinate Systems and Components; 2.2.1 Coordinate Systems; 2.2.2 Component Decomposition; 2.2.3 Relationship Between Component Representations; 2.2.4 Properties of the Transformation Matrix; 2.3 Linear Vector Functions and Second Order Tensors; 2.4 Free Motion of Rigid Bodies; 2.4.1 General Motion of Rigid Bodies; 2.4.2 Relative Motion; 2.4.3 Important Reference Frames; 2.5 Rotational Motion.
2.5.1 Spatial Rotation and Angular Velocity in General Form2.5.2 Parameterizing of Rotational Motion; 2.5.3 The Rotational Displacement Pair and Tensor of Rotation; 2.5.4 Rotational Displacement Pair and Angular Velocity; 2.5.5 CARDAN (BRYANT) Angles; References; 3 Kinematics of Multibody Systems; 3.1 Structure of Kinematic Chains; 3.1.1 Topological Modelling; 3.1.2 Kinematic Modelling; 3.2 Joints in Kinematic Chains; 3.2.1 Joints in Spatial Kinematic Chains; 3.2.2 Joints in Planar Kinematic Chains; 3.2.3 Joints in Spherical Kinematic Chains; 3.2.4 Classification of Joints.
3.3 Degrees of Freedom and Generalized Coordinates3.3.1 Degrees of Freedom of Kinematic Chains; 3.3.2 Examples from Road Vehicle Suspension Kinematics; 3.3.3 Generalized Coordinates; 3.4 Basic Principles of the Assembly of Kinematic Chains; 3.4.1 Sparse-Methods: Absolute Coordinates Formulation; 3.4.2 Vector Loop Methods ("LAGRANGE" Formulation); 3.4.3 Topological Methods: Formulation of Minimum Coordinates; 3.5 Kinematics of a Complete Multibody System; 3.5.1 Basic Concept; 3.5.2 Block Wiring Diagram and Kinematic Networks; 3.5.3 Relative Kinematics of the Spatial Four-Link Mechanism.
3.5.4 Relative, Absolute and Global Kinematics3.5.5 Example: Double Wishbone Suspension; References; 4 Equations of Motion of Complex Multibody Systems; 4.1 Fundamental Equation of Dynamics for Point Mass Systems; 4.2 JOURDAIN'S Principle; 4.3 LAGRANGE Equations of the First Kind for Point Mass Systems; 4.4 LAGRANGE Equations of the Second Kind for Rigid Bodies; 4.5 D'ALEMBERT's Principle; 4.6 Computer-Based Derivation of the Equations of Motion; 4.6.1 Kinematic Differentials of Absolute Kinematics; 4.6.2 Equations of Motion; 4.6.3 Dynamics of a Spatial Multibody Loop; References.
1.4 Webpage of the BookReferences; 2 Fundamentals of Mathematics and Kinematics; 2.1 Vectors; 2.1.1 Elementary Algorithms for Vectors; 2.1.2 Physical Vectors; 2.2 Coordinate Systems and Components; 2.2.1 Coordinate Systems; 2.2.2 Component Decomposition; 2.2.3 Relationship Between Component Representations; 2.2.4 Properties of the Transformation Matrix; 2.3 Linear Vector Functions and Second Order Tensors; 2.4 Free Motion of Rigid Bodies; 2.4.1 General Motion of Rigid Bodies; 2.4.2 Relative Motion; 2.4.3 Important Reference Frames; 2.5 Rotational Motion.
2.5.1 Spatial Rotation and Angular Velocity in General Form2.5.2 Parameterizing of Rotational Motion; 2.5.3 The Rotational Displacement Pair and Tensor of Rotation; 2.5.4 Rotational Displacement Pair and Angular Velocity; 2.5.5 CARDAN (BRYANT) Angles; References; 3 Kinematics of Multibody Systems; 3.1 Structure of Kinematic Chains; 3.1.1 Topological Modelling; 3.1.2 Kinematic Modelling; 3.2 Joints in Kinematic Chains; 3.2.1 Joints in Spatial Kinematic Chains; 3.2.2 Joints in Planar Kinematic Chains; 3.2.3 Joints in Spherical Kinematic Chains; 3.2.4 Classification of Joints.
3.3 Degrees of Freedom and Generalized Coordinates3.3.1 Degrees of Freedom of Kinematic Chains; 3.3.2 Examples from Road Vehicle Suspension Kinematics; 3.3.3 Generalized Coordinates; 3.4 Basic Principles of the Assembly of Kinematic Chains; 3.4.1 Sparse-Methods: Absolute Coordinates Formulation; 3.4.2 Vector Loop Methods ("LAGRANGE" Formulation); 3.4.3 Topological Methods: Formulation of Minimum Coordinates; 3.5 Kinematics of a Complete Multibody System; 3.5.1 Basic Concept; 3.5.2 Block Wiring Diagram and Kinematic Networks; 3.5.3 Relative Kinematics of the Spatial Four-Link Mechanism.
3.5.4 Relative, Absolute and Global Kinematics3.5.5 Example: Double Wishbone Suspension; References; 4 Equations of Motion of Complex Multibody Systems; 4.1 Fundamental Equation of Dynamics for Point Mass Systems; 4.2 JOURDAIN'S Principle; 4.3 LAGRANGE Equations of the First Kind for Point Mass Systems; 4.4 LAGRANGE Equations of the Second Kind for Rigid Bodies; 4.5 D'ALEMBERT's Principle; 4.6 Computer-Based Derivation of the Equations of Motion; 4.6.1 Kinematic Differentials of Absolute Kinematics; 4.6.2 Equations of Motion; 4.6.3 Dynamics of a Spatial Multibody Loop; References.