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

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