This book has evolved from the passionate desire of the authors in using
the modern concepts of multibody dynamics for the design improvement of
the machineries used in the rural sectors of India and The World. In
this connection, the first author took up his doctoral research in 2003
whose findings have resulted in this book. It is expected that such
developments will lead to a new research direction MuDRA, an acronym
given by the authors to "Multibody Dynamics for Rural Applications. "
The way Mu- DRA is pronounced it means 'money' in many Indian languages.
It is hoped that practicing MuDRA will save or generate money for the
rural people either by saving energy consumption of their machines or
making their products cheaper to manufacture, hence, generating more
money for their livelihood. In this book, the initial focus was to
improve the dynamic behavior of carpet scrapping machines used to wash
newly woven hand-knotted c- pets of India. However, the concepts and
methodologies presented in the book are equally applicable to non-rural
machineries, be they robots or - tomobiles or something else. The
dynamic modeling used in this book to compute the inertia-induced and
constraint forces for the carpet scrapping machine is based on the
concept of the decoupled natural orthogonal c- plement (DeNOC) matrices.
The concept is originally proposed by the second author for the dynamics
modeling and simulation of serial and - rallel-type multibody systems,
e. g.
