ERRATA COMPUTER-AIDED ANALYSIS OF MECHANICAL SYSTEMS Parviz E. Nikravesh Prentice-Hall, 1988 (Corrections as of November 2014) Address to an error is given in the first column by the page number and in the second column by a line number, or a figure number, or an equation number. For example: “line 2” means means the second line from the top of the page; “line –3” means the third line from the bottom of the page; “Eq. 2.30, +2” means the second line following Eq. 2.30; Eq. 6.48, line 1 means the first line in Eq. 6.48.
Page
Line, Fig., …
Error
10
Eq. 1.6
correct to: 2
(r
Eq. 1.7
Correction
l
+
2
s
+
2
− d 2 ) − 2 rl cosφ − − 2 ls cosθ 1 + 2 rs cos(φ + θ 1 ) = 0
correct to: 2
(r
l
+
2
+ 2 dscos θ 2 = 0 − s2 − d 2 ) − 2rl cos φ +
11, 12 Figs. 1.12, 1.13, 1.14 The link lengths are: crank = r , coupler = d , follower = s, frame = l d
12
Eq. 1.12, 4th line
23
Eq. 2.30, +3 Eq. 2.33, +1 Eq. 2.42 Eq. 2.61 line 2 Ex. 2.5, +4 Eq. 2.75, -2 Eq. 2.75, +1 Prob. 2.16 ⎡cosφ i − sinφ i
25 28 29 30 32 34
Ai
42 45
48 49
60
=
⎢ ⎢sinφ ⎢⎣ 0
i
−
cosφ i 0
aij
2
sin φ 2
=
d
0
+
0
=
aii
=
2
sin φ 2
0
correct to: where I is a 3 x 3 identity matrix. The … 0
0
˙˙
˙
α a
α a
…=c
…=c
2
6 x 2 x 4
6 x 2 x 4
n-vector 3-vector n x m matrix 3 x m matrix make the following corrections: 0⎤
⎥ 0⎥ 1⎥ ⎦
c
1
=
⎡ 1.2 ⎤ ⎢ ⎥ − 0.5 ⎢ ⎥ ⎢⎣ 0 ⎥⎦
c2
=
⎡−0.3⎤ ⎢ ⎥ 0.8 ⎢ ⎥ ⎢⎣ 0 ⎥⎦
d
=
Eq. 3.4, +5 Fig. 3.9 Eq. a
m = 4 x 3 = 12 l3 = 3 m
footnote, line 1 line –3 Eq. 3.15, 1st Eq. 3.15, 2nd
[u , v ]
[u , v ]
˙˙ φ 3
˙˙ φ −5.39 3
last equation
= 0
v
⎡ x 2 − ⎢ ⎢ y 2 − ⎢⎣ 0
x1 ⎤ y1
⎥ ⎥ ⎥⎦
m = 6 x 2 = 12 l3 = 0.3 m i
i
v i t
=
i T
i t
5.39
iT
=
() ˙q
q () ˙
() + () q q˙ +
˙ + () + () q q
⎡1 ⎤ ⎢ ⎥ ⎢3.5 ⎥ ⎢ −7 ⎥ ⎢ ⎥ ⎢⎣ 17 ⎥⎦
⎡ 1 ⎤ ⎢ ⎥ ⎢ 3.5 ⎥ ⎢ −7 ⎥ ⎢ ⎥ ⎢⎣−17⎥⎦ ERRATA (Computer-Aided Analysis of Mechanical Systems) Page 1
67 69
Fig. 3.11 Ex. 3.13, +2 Ex. 3.13, +2 Ex. 3.13, +7 Ex. 3.13, +8 Eq. 5
infection
inflection φ 2 φ 1 T [φ 2 , d ] [φ 1 ]
Φ2 Φ1
[Φ 2 , d ] [Φ1 ]
T
⎡Φ ⎤ ⎢−Φ ⎥ ⎣ ⎦
⎡−Φ ⎤ ⎢−Φ ⎥ ⎣ ⎦
1
1
2
70
line 11 2nd row in the table
2
move the thick line from before the table to below the table
326
320
..
103
line 2
r
˙˙ r
i
i
..
line 3 109 110
line –7, circled 2 Eq. f, line 3 line 5 line 22, circled 30 line 25, circled 33
114 127 133 141 143 145 147 149 151 154 155 158
before last parag. Sub. INPOIN, +6 Sub. SMPL, +4 top line top line top line top line top line top line Fig. 6.2 line 11 Fig. 6.4
160
Eq. 6.22
˙˙ r − ξ sinφ + η cosφ − ξ r
i
i
P
i
P
i
Φ 3 ≡ Φ1
=
i
P
i
i
P
sinφ i − η i cos φ i
Φ 3 ≡ φ 1
0
( y1 − 100sinφ 1 − y 4 ) ( x 1 − 100cosφ 1 − x 4 )
( y1 − ( x 1 −
=
0
y4 ) x 4
)
replace the statement for circled 30 with: circled 7, circled 11, circled 21, circled 25, circled 30 = 0 ( y1 − 100sinφ 1 − y 4 ) ( y1 − y 4 ) ( x 1 − 100cosφ 1 − x 4 ) ( x 1 − x 4 ) redundant data (it could be removed) centroid origin NG>0 and NS>0 NG>0 or NS>0 Program Expansion Problems Program Expansion Problems Program Expansion Problems Program Expansion Problems Program Expansion Problems Program Expansion Problems “z” is missing on the axis u( ) (u )( ) replace with the following figure
z
e
T
z
e
T
ERRATA (Computer-Aided Analysis of Mechanical Systems) Page 2
256 257
line 20 M10, Length M10, Description
260 262
correct to: C…..N must be greater than or equal to M N N+M ⎡ M Φ Tq ⎤ … Φq … ⎢ ⎥ Φ 0 ⎢⎣ q ⎥⎦
line 9 …, ETA, P-J’… …, ETA-P-J’… Sub. TRANSF …, Sec. 5.1.1 …, Sec. 5.1.2 Following Sub. TRIG, before Sub. MASS … missing statement for Sub. MASS (add the following:) Subroutine MASS. This subroutine generates the square matrix to the left of Eq. 10.5 containing the mass and the moment of inertia for each body, the Jacobian matrix and its transpose. Subroutine MASS is as follows:
263
269 275 276 284 286 289
Sub. FUNCT Sub. RVLT Sub. TRAN Sub. SMPL line 6 data line 14 line –3 Prob. 10.24, line 3 last line line –7 line –5
Sec. 5.2.3 Sec. 5.2.3 Sec. 5.2.3 Sec. 5.2.3 1,2,0,-1,0 2,3,-.38 3.669.2 …, as can that … axial
Sec. 5.1.3 Sec. 5.1.3 Sec. 5.1.3 Sec. 5.1.3 1,2,0,0,-1,0 2,3,-.38,0,0 3669.2 …, as that … radial
n
n'
i
n'
i
n
i
δ (A is'i )
∂(A is' i )
δ p i
∂p i
290
Eq. (b) line 1
296 299
line –5 Eq. 11.40 Eq. 3
300
following Eq. 4 a thick line is needed parag. following Eq. 4 the paragraph should not be indented TABLE 11.1 −2dT d + −2d˙ T d˙ + col. 6, row 6 following Table 11.1 remove the thick line Prob. 11.3 Eq. 11.6 Eq. 11.16 Fig. P.11.7 the vecor for n 2 should be a thick line
302
Eq. 12.5
i ε
311
Eq. 12.24
Δy
314 316 333 334
line before footnote line 7 parag. 3, +3 line (a.3)
… time t o to a final … … time t 0 to a final … Method 1. Method I. … the for of … … the form of …
−1
T
p i pi
=
˜ '1 J '1
T
0
p i pi
˜ '1 J '1
'i
T s j A i s i
=
i
=
'1
˙ ˜' ) ' + i T T + (− ˙s j A i ˜s' i −s j A˙ i ˜s' i ) 'i +
i
i ε
y(t ) − y )
− ⎞ ⎛ = I − b− ⎝ ⎠
=
i
y(t ) − y
1
˙˙ θ
i+1
0
T s j A i s i
˜' −
+ (˙
−1
1
i
− ⎞ ⎛ = − I − h b− ⎝ ⎠ 1
Δy
i+1
1
˙ θ
ERRATA (Computer-Aided Analysis of Mechanical Systems) Page 4
352 357 368
Eq. A.7 Ref. 15 Sparse matrix
cos φ 1 cos φ 3
Wehave 100, 144
cos φ 2 cos φ 3
Wehage 110, 144
ERRATA (Computer-Aided Analysis of Mechanical Systems) Page 5