Multi-Body Kinematics and Dynamics with Lie Groups

ISBN-13: 9781785482311 / Angielski / Twarda / 2017 / 334 str.

Dominique P. Chevallier; Jean Lerbet

Opis

Multi-body Kinematics and Dynamics with Lie Groups starts with an overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group which may be used in problems of kinematics and dynamics of rigid bodies. The book includes exercises allowing the reader to get familiar with this mathematical framework. For the more experienced readers, theoretical results that have appeared in some scientific articles are also included. For example, a complete classification of singularities of mechanisms is developed through exercises.

• Presents a overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group
• Makes it clear that the interface between Lie groups methods in mechanics and numerical calculations is very easy
• Includes theoretical results that have appeared in scientific articles

Spis treści

1. The Displacement Group as a Lie Group 2. Dual Numbers and "Dual Vectors" in Kinematics 3. The "Transference Principle" 4. Kinematics of a Rigid Body and Rigid Body Systems 5. Kinematics of Open Chains, Singularities 6. Closed Kinematic Chains: Mechanisms Theory 7. Dynamics 8. Dynamics of Rigid Body Systems

O autorze

Dominique P. Chevallier is Emeritus Research Director at Navier Laboratory, Ecole Nationale des Ponts et Chaussées in France. His research interests are the mathematical methods of mechanics. Jean Lerbet is Professor at the Universities of Evry and Paris Saclay in France. His research interests include differential geometry and mechanics, and stability.