MCL738 Dynamics of Multibody Systems (2-0-2) 

Course Coordinator: Prof. S.K. Saha (Room: II-419; Tel: x1135; Email: saha@mech.iitd.ac.in)

Other Teacher: Prof. K. Rama Krishna (Email: rkk@mech.iitd.ac.in) 

Jan-Apr 2022

Lectures (Online): Mon 11am-12pm; Thu 12-1pm; Practicals (Online): Wed 10am-12pm 

Course (Learning) Objectives

1. On successful completion of this course, a student should be able to write efficient and numerically stable computer algorithms for dynamic analyses and realistic simulation of mechanical systems.
2. Able to write dynamic equations of motion of a COMPLEX rigid-flexible (deformable) system and apply them for prediction of its behavior and design analyses.

Self-study

Application of Multibody Dynamics (Chapter 1 of Chaudhary and Saha); Rotational notations (Euler angles, Direction cosines, etc.) (Chapter 5 of Saha’s Intro. to Robotics)

Course contents

Overview of kinematic descriptions of serial, tree, and closed-loop chains, Degrees of freedom, and Kinematic constraints of rigid and flexible systems; Basics of Euler-Lagrange and other classical dynamic formulations, and those with orthogonal complements; Dynamic algorithms (inverse and forward dynamics); Efficiency and numerical stability aspects of the algorithms; Introduction to commercial software like RecurDyn.

Suggested texts and reference materials

1. Chaudhary, H., Saha, S.K., Dynamics and Balancing of Multibody Systems, Springer, 2009
2. Saha, S.K., Introduction to Robotics, 2^nd Edition, McGraw-Hill, 2014
3. Nandihal, P., Mohan, A., and Saha, S.K. Dynamics of Rigid-Flexible Robots and Multibody Systems, Springer, 2021
4. Shah, S., Saha, S.K., and Dutt, J.K., 2014, Dynamics of Tree-type Robotic Systems, Springer, 2014
5. Shabana, A.A., Dynamics of Multibody Systems, Cambridge Univ. Press, 2005

Minors: 30-40

Practical, Projects, and Quiz: 25

Major: 35-45

Total 100

Attendance: Follow institute guidelines

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