Multi Body Kinematics and Dynamics with Lie Groups

Written By Dominique Paul Chevallier
Multi Body Kinematics and Dynamics with Lie Groups
  • Publsiher : Elsevier
  • Release : 22 November 2017
  • ISBN : 008102357X
  • Pages : 334 pages
  • Rating : /5 from reviews
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Download or read book entitled Multi Body Kinematics and Dynamics with Lie Groups by author: Dominique Paul Chevallier which was release on 22 November 2017 and published by Elsevier with total page 334 pages . This book available in PDF, EPUB and Kindle Format. Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the displacement group, explaining why dual numbers play a role in kinematics (in the so-called screw theory). Chapters 4 to 7 make use of those mathematical tools to expound the kinematics of rigid body systems and in particular the kinematics of open and closed kinematical chains. A complete classification of their singularities demonstrates the efficiency of the method. Dynamics of multibody systems leads to very big computations. Chapter 8 shows how Lie groups make it possible to put them in the most compact possible form, useful for the design of software, and expands the example of tree-structured systems. This book is accessible to all interested readers as no previous knowledge of the general theory is required. 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

Multi Body Kinematics and Dynamics with Lie Groups

Multi Body Kinematics and Dynamics with Lie Groups
  • Author : Dominique Paul Chevallier,Jean Lerbet
  • Publisher : Elsevier
  • Release Date : 2017-11-22
  • Total pages : 334
  • ISBN : 008102357X
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Summary : Multi-body Kinematics and Dynamics with Lie Groups explores the use of Lie groups in the kinematics and dynamics of rigid body systems. The first chapter reveals the formal properties of Lie groups on the examples of rotation and Euclidean displacement groups. Chapters 2 and 3 show the specific algebraic properties of the ...

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  • Author : Peter Betsch
  • Publisher : Springer
  • Release Date : 2016-05-10
  • Total pages : 291
  • ISBN : 008102357X
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Summary : This book focuses on structure-preserving numerical methods for flexible multibody dynamics, including nonlinear elastodynamics and geometrically exact models for beams and shells. It also deals with the newly emerging class of variational integrators as well as Lie-group integrators. It discusses two alternative approaches to the discretization in space of nonlinear ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2007-10-20
  • Total pages : 223
  • ISBN : 008102357X
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Summary : Thank heavens for Jens Wittenburg, of the University of Karlsruhe in Germany. Anyone who’s been laboring for years over equation after equation will want to give him a great big hug. It is common practice to develop equations for each system separately and to consider the labor necessary for ...

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  • Publisher : Springer
  • Release Date : 2014-05-04
  • Total pages : 342
  • ISBN : 008102357X
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Summary : Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed....

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  • Publisher : Springer Science & Business Media
  • Release Date : 2010-05-18
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  • ISBN : 008102357X
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Summary : This book examines the evolution of self-organised multicellular structures, and the remarkable transition from unicellular to multicellular life. It shows the way forward in developing new robotic entities that are versatile, cooperative and self-configuring....

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  • Publisher : IGI Global
  • Release Date : 2013-03-31
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  • ISBN : 008102357X
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Summary : The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for ...

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  • Publisher : Springer
  • Release Date : 2014-06-26
  • Total pages : 368
  • ISBN : 008102357X
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Summary : By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different ...

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  • Publisher : Springer
  • Release Date : 2018-08-01
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  • ISBN : 008102357X
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Summary : This volume presents the latest academic research and industrial applications in the area of mechanisms, robotics and dynamics. Contributions cover such topics as biomedical applications, control issues of mechanical systems, dynamics of multi-body systems, experimental mechanics, haptic systems, history of mechanism science, industrial and non-industrial applications, linkages and cams, mechanical ...

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  • Publisher : Springer
  • Release Date : 2019-05-16
  • Total pages : 274
  • ISBN : 008102357X
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Summary : This is the proceedings of the Third Conference on Interdisciplinary Applications of Kinematics (IAK 2018) held in Lima, Peru, March 5–7, 2018. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of ...

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  • Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
  • Publisher : Springer
  • Release Date : 2017-08-14
  • Total pages : 539
  • ISBN : 008102357X
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Summary : This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce ...

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  • Publisher : Springer Nature
  • Release Date : 2021-08-03
  • Total pages : 212
  • ISBN : 008102357X
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Summary : Read online New Trends in Mechanism and Machine Science written by Doina Pisla, published by Springer Nature which was released on . Download full New Trends in Mechanism and Machine Science Books now! Available in PDF, ePub and Kindle....

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  • Author : Scott Robert Ploen
  • Publisher : Unknown
  • Release Date : 1997
  • Total pages : 316
  • ISBN : 008102357X
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Summary : Read online Geometric Algorithms for the Dynamics and Control of Multibody Systems written by Scott Robert Ploen, published by which was released on 1997. Download full Geometric Algorithms for the Dynamics and Control of Multibody Systems Books now! Available in PDF, ePub and Kindle....

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  • Publisher : Springer Science & Business Media
  • Release Date : 2008-09-27
  • Total pages : 176
  • ISBN : 008102357X
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Summary : This book has evolved from the passionate desire of the authors in using the modern concepts of multibody dynamics for the design improvement of the machineries used in the rural sectors of India and The World. In this connection, the first author took up his doctoral research in 2003 whose findings ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2008-05-20
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  • ISBN : 008102357X
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Summary : With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks ...

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  • Publisher : Springer Science & Business Media
  • Release Date : 2010-10-23
  • Total pages : 730
  • ISBN : 008102357X
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Summary : The author developed this text over many years, teaching graduate courses in advanced dynamics and flexible multibody dynamics at the Daniel Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology. The book presents a unified treatment of rigid body dynamics, analytical dynamics, constrained dynamics, and flexible multibody dynamics. ...