# Get A Concise Introduction to Mechanics of Rigid Bodies: PDF

By L. Huang

This up to date moment variation broadens the reason of rotational kinematics and dynamics — an important point of inflexible physique movement in third-dimensional house and a subject matter of a lot higher complexity than linear movement. It expands therapy of vector and matrix, and comprises quaternion operations to explain and examine inflexible physique movement that are present in robotic regulate, trajectory making plans, 3D imaginative and prescient approach calibration, and hand-eye coordination of robots in meeting paintings, and so forth. It gains up-to-date remedies of strategies in all chapters and case studies.

The textbook keeps its comprehensiveness in assurance and compactness in measurement, which make it simply obtainable to the readers from multidisciplinary components who are looking to clutch the foremost suggestions of inflexible physique mechanics that are frequently scattered in a number of volumes of conventional textbooks. Theoretical options are defined via examples taken from throughout engineering disciplines and hyperlinks to functions and extra complex classes (e.g. business robotics) are provided.

Ideal for college kids and practitioners, this ebook offers readers with a transparent route to knowing inflexible physique mechanics and its importance in different sub-fields of mechanical engineering and similar areas.

**Read Online or Download A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering PDF**

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**Additional info for A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering**

**Sample text**

1007/978-3-319-45041-4_2 27 28 2 Orientation and Position Representation {B} Fig. 1 Coordinate frames xˆB zˆ A A { A} kˆ {U } Z pOB zˆB OB pOB yˆ B yˆ A OA pOA xˆ A iˆ O ˆj Y X Fig. 2 shows a cylindrical coordinate frame fAg defined in the universal frame fUg. 1 Coordinate Frames 29 where is the angle between the plane formed by zO and pOA and the plane XZ, r is the length of the projection of pOA onto the XY plane or the radius of the cylinder, and z is the z-coordinate of the point OA in fUg.

P ; q0! p C p0! q C! q ! p / D 32 C 23i q T! q0 p0 ! 5 Special Vectors, Matrices, and Terms qT q D 3 X qm pm D 18; pT p D mD0 25 3 X pm pm D 101; mD0 qD2 3i j 2k; p D 1 6i 8k; q p p q k2 D 3 2; kqk D qq D q20 C k! q p p kpk D pp D p20 C k! 1 C 6i C 8k/=101: Special Vectors, Matrices, and Terms In this book, the following special vectors, matrices, and terms are used. 1 Coordinate Frames The first step in studying the kinematics and dynamics of a rigid body is to have a clear description of its position and orientation and their changes over time.

T/O In the following example, various quaternion operations are demonstrated. 4. Letting q D 2 C 3i C j C 2k D Œ2 3 1 2T and p D 1 C 6i C 8k D Œ1 6 0 8T , then q D Œ3 1 2T ; q0 D 2; ! p D 1; ! p D Œ6 0 8T ; 0 q C! q0 C p0 ; ! p ; q0! p C p0! q C! q ! p / D 32 C 23i q T! q0 p0 ! 5 Special Vectors, Matrices, and Terms qT q D 3 X qm pm D 18; pT p D mD0 25 3 X pm pm D 101; mD0 qD2 3i j 2k; p D 1 6i 8k; q p p q k2 D 3 2; kqk D qq D q20 C k! q p p kpk D pp D p20 C k! 1 C 6i C 8k/=101: Special Vectors, Matrices, and Terms In this book, the following special vectors, matrices, and terms are used.