This lecture provides foundational knowledge for computer-aided modeling of mechanical systems using the multibody system (MBS) method. It builds on the content covered in the Engineering Mechanics course.

Learning Objectives:
Students will be able to develop task-specific models for mechanical systems using the multibody system method, perform simulations using standard software tools, and physically interpret simulation results.

Content:

1. Introduction: Multibody system models

2. Vector Calculus: Vector algebra, coordinate representation of vectors, coordinate transformations

3. Fundamentals of Kinematics: Motion of rigid bodies, relative motion, rotational motion

4. Fundamentals of Dynamics: Linear and angular momentum principles, inertia tensor, rotor forces, gyroscopic dynamics

5. Mechanical Systems with Constraints: Types of constraints, formulation of equations of motion using dependent and minimal coordinates

6. Constraints in Multibody Systems: Joints, system topology, static determinacy, implicit and explicit constraints at joints, joint reaction forces

7. Open Multibody Systems: Topology, kinematics, dynamics, equations of motion in joint coordinates, recursive methods, examples

8. Closed Multibody Systems: Kinematics of single and multiple loop systems, dynamics, equations of motion in primary joint coordinates and minimal coordinates, examples

Recommended Literature:

Woernle, C.: Mehrkörpersysteme; Springer, 2011. 
Schiehlen, W.; Eberhard, P.: Technische Dynamik; Vieweg+Teubner, 2012.
Shabana, A.: Dynamics of Multibody Systems; John Wiley, 1989. 
Nikravesh, P.: Computer-Aided Analysis of Mechanical Systems; Englewood Cliffs: Prentice Hall, 1988.