Download A Concise Introduction to Mechanics of Rigid Bodies: by L. Huang PDF

By L. Huang

This up to date moment version broadens the reason of rotational kinematics and dynamics — an important element of inflexible physique movement in 3-dimensional house and a subject matter of a lot better complexity than linear movement. It expands remedy of vector and matrix, and contains quaternion operations to explain and research inflexible physique movement that are present in robotic keep an eye on, trajectory making plans, 3D imaginative and prescient procedure calibration, and hand-eye coordination of robots in meeting paintings, and so on. It gains up-to-date remedies of thoughts in all chapters and case studies.
The textbook keeps its comprehensiveness in assurance and compactness in dimension, which make it simply obtainable to the readers from multidisciplinary components who are looking to take hold of the major techniques of inflexible physique mechanics that are often scattered in a number of volumes of conventional textbooks. Theoretical innovations are defined via examples taken from throughout engineering disciplines and hyperlinks to functions and extra complicated classes (e.g. commercial robotics) are provided.
Ideal for college kids and practitioners, this ebook offers readers with a transparent route to knowing inflexible physique mechanics and its value in different sub-fields of mechanical engineering and similar areas.

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

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6, a complex number corresponds to a point in the twodimensional complex plane spanned by the two orthogonal number lines corresponding to the real and imaginary parts respectively. 27) p where r D a2 C b2 is called the modulus and  (tan  D b=a) is called the argument of z. They are denoted by jzj and arg z respectively. 27), we see that z can be represented by an exponential function using Euler’s formula z D rei ; which is a more compact representation of polar form. 2 Operations In the following, some basic operations on complex numbers and their relations relevant to this book will be presented.

Let p be the position vector of a point. Define C pA as the vector p observed in the frame fAg and described in the frame fCg (Fig. 4). This notation consists of three parts: • p: the name of the position vector, which is the center of the notation. • A: the name of the observation frame, which forms the right subscript of the vector name. It is separated from the vector name with a slash. • C: the name of the description frame, which is the left superscript of the vector name. The notation can be simplified in the following cases: • When the observation and description frames are the same, the right subscript of the notation is omitted.

It can be seen that the column vectors of AB R consist of direction cosines of the axes of fBg with respect to fAg, and its row vectors consist of the direction cosines of the axes fAg with respect to fBg. So a rotation matrix is also called a direction cosines matrix. , the universal frame) can be derived by its orientation with respect to another frame (fAg) if the relation between these two frames is known (RA ). Â/ D 4 sin  cos  0 5 : 0 0 1 A rotation matrix contains nine parameters, far more than what is needed to describe an orientation with three degrees freedom.

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