Rigid Body Dynamics of Mechanisms

1 Theoretical Basis

  • Hubert Hahn

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Hubert Hahn
    Pages 1-31
  3. Back Matter
    Pages 255-336

About this book


This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). Objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.


Joint Kinematics Multibody Planar Simulation Spatial mechanics model

Authors and affiliations

  • Hubert Hahn
    • 1
  1. 1.Regelungstechnik und Systemdynamik, FB MaschinenbauUniversität Gh KasselKasselGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2002
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-07617-6
  • Online ISBN 978-3-662-04831-3
  • Buy this book on publisher's site