overview class #12 (feb 25) deformable multi-body systems material from chapter 5 of –ahmed a....

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Overview Class #12 (Feb 25) • Deformable Multi-body Systems • Material from chapter 5 of – Ahmed A. Shabana, Dynamics of Multibody Systems , Cambridge University Press, 2nd edition, April 1998. – Doesn’t include collision modeling or constraint stabilization • Next week... physically based sound modeling

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Page 1: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

OverviewClass #12 (Feb 25)

• Deformable Multi-body Systems

• Material from chapter 5 of – Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University Press, 2nd edition, April 1998.

– Doesn’t include collision modeling or constraint stabilization

• Next week... physically based sound modeling

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Page 2: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Reminder...Assignment #2: HAIL STORM!

• Pelt a banana bicycle seat with hail stones• Watch the punishment in slow motion!

• Due Thursday, March 6 • /afs/cs.cmu.edu/academic/class/15863-s03/pbmisA2_HailStorm_starterCode.zip

Page 3: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Various whiteboard helper slides from Shabana follow...

Page 4: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Consistent System Mass Matrix

Page 5: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Consistent System Mass Matrix

Page 6: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Page 7: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Lumped System Mass Matrix

Page 8: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Page 9: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

Quadratic Velocity Vector

Page 10: Overview Class #12 (Feb 25) Deformable Multi-body Systems Material from chapter 5 of –Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge University

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