Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.

Inhalt
1 Introduction and Basic Concepts.- 1.1 Computer Methods for Multibody Systems.- 1.2 Basic Concepts.- 1.3 Types of Problems.- 1.4 Summary.- References.- 2 Dependent Coordinates and Related Constraint Equations.- 2.1 Planar Multibody Systems.- 2.2 Spatial Multibody Systems.- 2.3 Comparison Between Reference Point and Natural Coordinates.- 2.4 Concluding Remarks.- References.- Problems.- 3 Kinematic Analysis.- 3.1 Initial Position Problem.- 3.2 Velocity and Acceleration Analysis.- 3.3 Finite Displacement Analysis.- 3.4 Redundant Constraints.- 3.5 Subspace of Allowable Motions.- 3.6 Multibody Systems with Non-Holonomic Joints.- References.- Problems.- 4 Dynamic Analysis. Mass Matrices and External Forces.- 4.1 Background on Analytical Dynamics.- 4.2 Inertial Forces. Mass Matrix.- 4.3 External Forces.- References.- Problems.- 5 Dynamic Analysis. Equations of Motion.- 5.1 Formulations in Dependent Coordinates.- 5.2 Formulations in Independent Coordinates.- 5.3 Formulations Based on Velocity Transformations.- 5.4 Formulations Based on the Canonical Equations.- References.- Problems.- 6 Static Equilibrium Position and Inverse Dynamics.- 6.1 Static Equilibrium Position.- 6.2 Inverse Dynamics.- References.- 7 Numerical Integration of the Equations of Motion.- 7.1 Integration of Ordinary Differential Equations.- 7.2 Integration of Differential-Algebraic Equations.- 7.3 Considerations for Real-Time Simulation.- References.- Problems.- 8 Improved Formulations for Real-Time Dynamics.- 8.1 Survey of Improved Dynamic Formulations.- 8.2 Velocity Transformations for Open-Chain Systems.- 8.3 Velocity Transformations for Closed-Chain Systems.- 8.4 Examples Solved by Velocity Transformations.- 8.5 Special Implementations Using Dependent Natural Coordinates.- References.- 9 Linearized Dynamic Analysis.- 9.1 Linearization of the Differential Equations of Motion.- 9.2 Numerical Computation of Derivatives.- 9.3 Numerical Evaluation of the Dynamic Response.- References.- 10 Special Topics.- 10.1 Coulomb Friction.- 10.2 Impacts and Collisions.- 10.3 Backlash.- 10.4 Kinematic Synthesis.- 10.5 Sensitivity Analysis and Optimization.- 10.6 Singular Positions.- References.- 11 Forward Dynamics of Flexible Multibody Systems.- 11.1 An Overview.- 11.2 The Classical Moving Frame Approach.- 11.3 Global Method Based on Large Rotation Theory.- References.- 12 Inverse Dynamics of Flexible Multibodies.- 12.1 Inverse Dynamics Equations for Planar Motion.- 12.2 Recursive Inverse Dynamics for Open-Chain Configurations.- 12.3 Non-Recursive Inverse Dynamics.- References.