SG2151 Modern flerkroppsdynamik 8,0 hp

Modern Multibody Dynamics

  • Utbildningsnivå

    Avancerad nivå
  • Huvudområde

  • Betygsskala

    A, B, C, D, E, FX, F

Det finns inget planerat kurstillfälle.


After the course the students should have the techniques needed to deal with modeling mechanical systems, such as robots, vehicles, space satellites and other multibody systems. The student will also be made aware of the requirements of carrying out and presenting numerical solutions of such problems.

Kursens huvudsakliga innehåll

Techniques for dealing with multiple coordinate systems and complex kinematics. The geometric ideas and the computer algebra (Maple is used) needed for such problems are introduced. Dyads and rotations. Kane's equations. The rigid body and its inertia dyad. Redundant variables and non-holonomic systems. Analysis of constraint forces. Kane’s method is interpreted in terms of the geometry of the configuration manifold for such systems. Techniques of symbolic manipulations are introduced for deriving equations of motion using Kane's method. Emphasis is on problems that occur in modern practice and that require multiple coordinate systems for their formulation.


SG1130, och SG1140 eller SG1113; gärna även SG2150.


Lesser, M. 1995. The Analysis of Complex Nonlinear Mechanical Systems: A Computer Algebra Assisted Approach. World Scientific.


  • TEN1 - Tentamen, 8,0, betygsskala: A, B, C, D, E, FX, F

Krav för slutbetyg


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Kursplan gäller från och med HT2008.
Examinationsinformation gäller från och med HT2007.