Concise Introduction to Mechanics of Rigid Bodies
-15%
portes grátis
Concise Introduction to Mechanics of Rigid Bodies
Multidisciplinary Engineering
Huang, L.
Springer International Publishing AG
07/2018
191
Mole
Inglês
9783319831947
15 a 20 dias
454
Descrição não disponível.
1 Preliminary on vector, matrix, complex number and quaternion1.1 Vector1.1.1 Definition1.1.2 Operations1.2 Matrix1.2.1 Definition1.2.2 Operations1.3 Complex number1.3.1 Definition1.3.2 Operations1.4 Quaternion1.4.1 Definition1.4.2 Operations1.4.3 Some definitions and relations1.5 Special vectors, matrices and terms2 Orientation and position representation2.1 Coordinate frames2.2 Observation frame, description frame and vector notations2.3 Orientation2.3.1 Rotation matrix2.3.2 Equivalent/effective axis and angle2.3.3 Exponential coordinates2.3.4 Active / passive interpretations of rotation matrix and orientation from successive rotations2.3.5 Euler angles2.3.6 RPY angles2.3.7 Quaternion of rotation2.3.8 Cayley-Klein matrix2.4 Position2.4.1 Position of a rigid body and position of a point2.4.2 Passive and active representation of position2.5 Examples3 Velocity and acceleration3.1 Angular velocity3.1.1 Angular velocity derived from rotation matrix3.1.2 Angular velocity and the time derivative of a vector fixed in the body frame3.1.3 Angular velocity derived from Euler angles and RPY angles3.1.4 Angular velocity derived from equivalent/effective axis and angle3.1.5 Angular velocity derived from quaternion of rotation3.1.6 Angular velocity for successive rotations3.2 Linear velocity3.3 Acceleration3.3.1 Angular acceleration3.3.2 Linear acceleration3.4 Examples4 Dynamics4.1 Inertial Properties4.1.1 Inertial properties for linear motion4.1.2 Inertial properties for angular motion4.1.3 Inertia ellipsoid4.1.4 Example4.1.5 Theorems and rules4.1.6 Examples4.2 Momentum4.2.1 Linear momentum4.2.2 Angular momentum4.2.3 Examples4.3 Force, moment of force and torque4.4 impulse, work and power4.5 Mechanical energy4.5.1 Kinetic energy4.5.2 Potential energy4.5.3 Mechanical energy<4.5.4 Examples4.6 Equations of motion4.6.1 Newton-Euler formulation4.6.2 D'Alembert's principle4.6.3 Lagrange's equations4.6.4 Examples5 Case studies5.1 Two-link planar robotic arm5.2 Human body doing twisting somersaults5.3 Bicycle balanceReferencesIndex
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Dynamics;Lagrangian formulation;Mechatronics;Newton-Euler laws;Rigid Bodies;Rigid Body Dynamics;Rigid Body Kinematics;Robotics;d'Alembert's Principal
1 Preliminary on vector, matrix, complex number and quaternion1.1 Vector1.1.1 Definition1.1.2 Operations1.2 Matrix1.2.1 Definition1.2.2 Operations1.3 Complex number1.3.1 Definition1.3.2 Operations1.4 Quaternion1.4.1 Definition1.4.2 Operations1.4.3 Some definitions and relations1.5 Special vectors, matrices and terms2 Orientation and position representation2.1 Coordinate frames2.2 Observation frame, description frame and vector notations2.3 Orientation2.3.1 Rotation matrix2.3.2 Equivalent/effective axis and angle2.3.3 Exponential coordinates2.3.4 Active / passive interpretations of rotation matrix and orientation from successive rotations2.3.5 Euler angles2.3.6 RPY angles2.3.7 Quaternion of rotation2.3.8 Cayley-Klein matrix2.4 Position2.4.1 Position of a rigid body and position of a point2.4.2 Passive and active representation of position2.5 Examples3 Velocity and acceleration3.1 Angular velocity3.1.1 Angular velocity derived from rotation matrix3.1.2 Angular velocity and the time derivative of a vector fixed in the body frame3.1.3 Angular velocity derived from Euler angles and RPY angles3.1.4 Angular velocity derived from equivalent/effective axis and angle3.1.5 Angular velocity derived from quaternion of rotation3.1.6 Angular velocity for successive rotations3.2 Linear velocity3.3 Acceleration3.3.1 Angular acceleration3.3.2 Linear acceleration3.4 Examples4 Dynamics4.1 Inertial Properties4.1.1 Inertial properties for linear motion4.1.2 Inertial properties for angular motion4.1.3 Inertia ellipsoid4.1.4 Example4.1.5 Theorems and rules4.1.6 Examples4.2 Momentum4.2.1 Linear momentum4.2.2 Angular momentum4.2.3 Examples4.3 Force, moment of force and torque4.4 impulse, work and power4.5 Mechanical energy4.5.1 Kinetic energy4.5.2 Potential energy4.5.3 Mechanical energy<4.5.4 Examples4.6 Equations of motion4.6.1 Newton-Euler formulation4.6.2 D'Alembert's principle4.6.3 Lagrange's equations4.6.4 Examples5 Case studies5.1 Two-link planar robotic arm5.2 Human body doing twisting somersaults5.3 Bicycle balanceReferencesIndex
Este título pertence ao(s) assunto(s) indicados(s). Para ver outros títulos clique no assunto desejado.
