Huang A Concise Introduction to Mechanics of Rigid Bodies

Multidisciplinary Engineering
2. Auflage 2017
ISBN: 978-3-319-45041-4
Verlag: Springer International Publishing
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 191 Seiten, eBook

This updated second edition broadens the explanation of rotational kinematics and dynamics — the most important aspect of rigid body motion in three-dimensional space and a topic of much greater complexity than linear motion. It expands treatment of vector and matrix, and includes quaternion operations to describe and analyze rigid body motion which are found in robot control, trajectory planning, 3D vision system calibration, and hand-eye coordination of robots in assembly work, etc. It features updated treatments of concepts in all chapters and case studies.
The textbook retains its comprehensiveness in coverage and compactness in size, which make it easily accessible to the readers from multidisciplinary areas who want to grasp the key concepts of rigid body mechanics which are usually scattered in multiple volumes of traditional textbooks. Theoretical concepts are explained through examples taken from across engineering disciplines and links to applications and more advanced courses (e.g. industrial robotics) are provided.
Ideal for students and practitioners, this book provides readers with a clear path to understanding rigid body mechanics and its significance in numerous sub-fields of mechanical engineering and related areas.

Zielgruppe

Upper undergraduate

Autoren/Hrsg.

Huang, L.

Inhaltsverzeichnis

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

Über Autor(innen)

Dr. Loulin Huang is Associate Professor of Mechanical Engineering at Auckland University of Technology in New Zealand. His research interests include Mechatronics, Robotics, and Dynamics and Control.