Dual-Number Methods in Kinematics, Statics and Dynamics

ISBN-13: 9780849391156 / Angielski / Twarda / 1998 / 242 str.

Ian S. Fischer; Aan S. Fischer

Opis

This is a graduate-level text in which 3X3 co-ordinate-transformation matrices and three element vectors with dual-number elements are used to analyze the mechanics of mechanisms, robots and other mechanical systems. The use of dual-numbers allows a very compact and convenient notation for the analysis of displacements, velocities, static equilibrium and dynamic equilibrium. The concept of the dual-number has been around since the 19th century but has not become popular because there has not been a textbook available to facilitate learning the concepts and methods. Mention of the dual-number and its applications have been more frequent in recent years but have been scattered about in journal articles with varying approaches and notation. This text features a well organized explanation of how the dual-number can be applied with examples and exercises so that the reader can use dual number methods to analyze mechanical systems of interest.

Recenzje

"Exciting!...of tremendous benefit to graduate-level classes and researchers in the kinematics, mechanisms, and robotics communities."
- Prof. Pierre Larochelle, Mechanical Engineering Program, Florida Institute of Technology, Melbourne

Spis treści

Definitions. Coordinate Transformation. Matrix Modeling of Joints and Links. Displacement Analysis. Velocity Analysis. Static Analysis. Dynamic Analysis. Dual-Number Programming. Bibliography. Index.

NTI/Sales Copy

O autorze

Fischer, Ian