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2002 results in Engineering design, kinematics, and robotics

Page 19 of 101

  • 3 - Rigid Body Kinematics

  • Joaquim A. Batlle, Universitat Politècnica de Catalunya, Barcelona, Ana Barjau Condomines, Universitat Politècnica de Catalunya, Barcelona
  • Book:
    Rigid Body Kinematics
    Published online:
    26 August 2020
    Print publication:
    10 September 2020, pp 114-223

  • Summary

    The mass point model is not suitable when the orientation is relevant to the problem under study. The simplest model incorporating the orientation is the rigid body, which is defined as a set of material points with constant mutual distances. This definition is so close to that of the reference frame that both concepts are taken as synonyms in a kinematics context. The reference frame of points fixed with respect to the rigid body is called body reference frame. The kinematics of the rigid body corresponds to the transportation motion (Chapter 2) associated with that reference frame.

  • 1 - Space and Time

  • Joaquim A. Batlle, Universitat Politècnica de Catalunya, Barcelona, Ana Barjau Condomines, Universitat Politècnica de Catalunya, Barcelona
  • Book:
    Rigid Body Kinematics
    Published online:
    26 August 2020
    Print publication:
    10 September 2020, pp 1-53

  • Summary

    Kinematics deals with the geometry of motion of material bodies along time – change of position in space and over time – without regard to the physical phenomena on which it depends. Such description requires mathematical models for space and time (which is the physical framework of mechanical phenomena) and mathematical models for bodies.

  • 4 - Introduction to Kinematics of Multibody Systems

  • Joaquim A. Batlle, Universitat Politècnica de Catalunya, Barcelona, Ana Barjau Condomines, Universitat Politècnica de Catalunya, Barcelona
  • Book:
    Rigid Body Kinematics
    Published online:
    26 August 2020
    Print publication:
    10 September 2020, pp 224-282

  • Summary

    The study of the dynamics of a mechanical system starts with the description of its mechanical state (position and velocity of every point in the system). For the particular case of systems consisting of a finite number of rigid bodies, though the number of points is infinite, that description calls for a finite set of position variables – generalized coordinates (GC) – and speed variables – generalized speeds (GS). The vector space defined by the GC is called configuration space; that defined by the GC and the GS is known as phase space.

Rigid Body Kinematics
  • Joaquim A. Batlle, Ana Barjau Condomines
  • Published online:
    26 August 2020
    Print publication:
    10 September 2020
  • Master the conceptual, theoretical and practical aspects of kinematics with this exhaustive text, which provides a rigorous analysis and description of general motion in mechanical systems, with numerous examples from spinning tops to wheel ground-vehicles. Over 400 figures illustrate the main ideas and provide a geometrical interpretation and a deeper understanding of concepts, and exercises and problems throughout the text provide additional hands-on practice. Ideal for students taking courses on rigid body kinematics, and an invaluable reference for researchers.

Page 19 of 101