MCL738 Dynamics of Multibody Systems
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MCL738 Dynamics of Multibody Systems (2-0-2)
Course Coordinator: Prof. S.K. Saha, firstname.lastname@example.org
Office: ME Head, II-264 (x6139) and II-419 (x1135)
Lecture hours and location: B-Slot (M-Th 9:30-11am), Room IV 339
Practical: To be announced later
Overview of kinematic description of serial, tree, and closed-loop chains; Degrees of freedom, and kinematic constraints; Basics of Euler-Lagrange and other classical dynamical formulations; Orthogonal complement based formulations; Dynamic algorithms (Inverse and Forward dynamics); Efficiency and numerical stability aspects of algorithms; Introduction to flexible-body formulations; Introduction to software like RecurDyn.
1. Shabana, A.A., 2005, Dynamics of Multibody Systems, Cambridge Press
2. Chaudhary, H., and Saha, S.K., 2013, Dynamics and Balancing of Multibody Systems, Springer (India)
3. Shah, S., Saha, S.K., and Dutt, J.K., 2014, Dynamics of Tree-type Robotic Systems, Springer
4. Banerjee, Arun K., 2016, Flexible Multibody Dynamics—Efficient Formulations and Applications, Wiley
Marks, Attendance, and Audit
Minor I & II (20% each): 40% + Practical, Projects, and Quizzes: 25% + Major: 35% = 100%
Attendance Policy: 75% (For every 5% less one grade less)
Audit Pass: 75% attendance + 50% marks