1. INTRODUCTION Why Simulate Mechanisms? / Kinematic Simulations / Dynamic Simulation of Mechanisms / Cross Reference with Traditional Kinematics Texts / Summary 2. VECTOR LOOP AND VECTOR CHAIN EQUATIONS Introduction / The Planar Vector / Single Loop Equations / Derivatives of Vectors / Other Common Mechanisms / Vector Chains / Summary 3. SOLUTIONS OF THE POSITION PROBLEM Overview / Numerical Solutions of Nonlinear Algebraic Equations / The Position Problem of a Four-Bar Linkage / MATLAB Solution of the Position Problem of a Four-Bar Linkage / Position Solutions and Initial Guesses / Summary 4. KINEMATIC SIMULATIONS USING SIMULINK(R) What Is a Kinematic Simulation? / Velocity Solution via Kinematic Simulation / Acceleration Solution via Kinematic Simulation / The Consistency Check / Kinematic Simulation of a Four-Bar Mechanism / Summary 5. INTRODUCING DYNAMICS Introduction / Step 1: Simulation of Slider on Inclined Plane / Step 2: Adding the Pendulum / Step 3: Assembling the Matrix Equation / Step 4: Create a Dynamic Simulation / Step 5: Set Initial Conditions and Run Simulation / Summary 6. THE SIMULTANEOUS CONSTRAINT METHOD Introduction / Description of the Approach / Application of Simultaneous Constraint Method for the Slider Crank / Dynamic Simulation of the Slider Crank / Simulation Studies of the Slider Crank / Summary 7. SIMULATING MECHANISMS THAT CHANGE The Geneva Mechanism / Summary 8. TWO-LINK PLANAR ROBOT Overview / Vector Equations / Dynamic Equations / The Simultaneous Constraint Matrix / Dynamic Simulation / Robot Coordinate Control / Conclusions 9. THE TREBUCHET Introduction / The Vector Loop / The Equations of Motion / The Matrix Equation / The Dynamic Simulation / Simulation Results / Summary
About the Author
Dr. John Gardner is Director, CAES Energy Efficiency Research Institute at Boise State University. As a member of the City of Boise Climate Protection Committee and the Boise Public Works Commission, Dr. Gardner has worked on citywide programs to minimize energy consumption through better planning, incentives for efficient design and changes in city operations. He also is a member of the Idaho Power Integrated Resource Plan Advisory Committee, which helps the utility make decisions regarding the evolving needs of customers. In his current work through Boise State's Division of Research, Dr. Gardner deals directly with facilities managers, electric utility representatives, state officials and executives to plan for sustainability programs. As EERI moves forward, he will continue guiding energy research, environmental policy and campus sustainability efforts at Boise State. These efforts have exposed many potential research issues that could be explored and applied more broadly through EERI.