Rigid Body Dynamics of Mechanisms 1 Theoretical Basis
This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model...
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| Format: | eBook |
| Language: | English |
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Berlin, Heidelberg
Springer Berlin Heidelberg
2002, 2002
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| Edition: | 1st ed. 2002 |
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| Online Access: | |
| Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 1. Introduction
- 2. Planar and spatial vectors, matrices, and vector functions
- 3. Constraint equations and constraint reaction forces of mechanisms
- 4. Dynamics of planar and spatial rigid-body systems
- 5. Model equations of planar and spatial joints
- 6. Constitutive relations of planar and spatial external forces and torques
- A. Appendix
- A.1 Special vector and matrix operations used in mechanics
- A.1.1 Euclidean vector space
- A.1.2 Scalar product and cross product of planar vectors
- A.1.3 Cross product of spatial vectors
- A.1.4 Time derivatives of planar orientation matrices and of planar vectors in different frames
- A.1.5 Time derivatives of spatial orientation matrices and of spatial vectors in different frames
- A.1.6 Derivatives of vector functions
- A.2.1 Kinetic energy of an unconstrained rigid body
- A.2.3 Spatial equations of motion of a constrained rigid body
- A.4 Constraint equations of a general universal joint
- A.4.1 Notation and abbreviations
- A.4.2 Computation of constraint equations
- A.4.2.1 First constraint equation
- A.4.2.2 Second constraint equation
- A.4.2.3 Third constraint equation
- A.4.2.4 Fourth constraint equation
- A.4.3 Computation of the shortest distance between two rotation axes
- References
- List of figures