SYDE 652Dynamics of Multibody Systems

This course teaches an engineer how to model and simulate the motion of complex multibody systems such as robots, humans, vehicles, and mechanisms. Systematic methods, including conventional matrix approaches and linear graph theory, are used to generate kinematic and dynamic models for 2-d and 3-d systems of bodies connected by joints, springs, dampers, muscles, and actuators. Numerical solutions for the dynamic equations provide a simulation of the system response, which are obtained using commercial software packages. The course concepts are demonstrated through applications to the kinematic and dynamic analysis of mechanisms, human movement, biomechatronic systems, serial and parallel robot manipulators, autonomous and hybrid vehicles, and other multibody systems.