Matrix Methods in the Design Analysis of Mechanisms and Multibody Systems

1. Concepts and definitions 2. Topology and kinematic architecture 3. Transformation matrices in kinematics 4. Modeling mechanisms and multibody systems with transformation matrices 5. Position analysis by kinematic equations 6. Differential kinematics and numeric solution of posture equations 7. Velocity analysis 8. Acceleration analysis 9. Modeling dynamic aspects of mechanisms and multibody systems 10. Dynamic equations of motion 11. Linearized equations of motion 12. Equilibrium position analysis 13. Frequency response of mechanisms and multibody systems 14. Time response of mechanisms and multibody systems 15. Collision detection 16. Impact analysis 17. Constraint force analysis.

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