Computer-Aided Analysis of Mechanical Systems by Parviz E. Nikravesh

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1 coordinates are not independent. , known 1>1' the set of two simultaneous algebraic equations must be solved for 1>2 and 1>3' After Eq. xy coordinates of a point F can be calculated. The third formulation uses three Cartesian coordinates per link - the x and Y coordinates of the center point of each link and the angle of the link which is measured with respect to the x axis, as shown in Fig. 14. Thus, the set of coordinates describing the configuration of the four-bar linkage is q [XI YI 1>1 X 2 Y2 1>2 X3 Y3 1>3Y These nine coordinates are dependent upon each other through eight equations: 2 cos 1>1 0 YI r .

2. 3. 4. Accepting data from the user Generating the governing equations of motion Solving the equations Communicating the result to the user The first step is referred to as the input phase, the second and third steps are the analysis phase, and the fourth step is the output phase. Sec. 4 Computational Methods 15 Input. The user must furnish for the program a description of the system under consideration through a set of engineering data. As an example, assume that the doublewishbone suspension system with steering shown in Fig.

N, are column vectors with p elements. 23) Sec. 24) a~bl a~b2 a~b" or C ii a;b j • The scalar product aTb for two vectors a = [a l ,a 2 , b = [b l , b2 , ••• , bX is defined as aTb = alb l + a2b2 + ... 25) It is important to note that the product of two matrices is defined only if the number of columns in the first matrix equals the number of rows in the second matrix. 26) AB ~ BA In fact, the products AB and BA are equal dimension. , A AT. , A = _AT. Note that in this case, ali 0, for all i. Consider an m X p matrix A.

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