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Multi Body Kinematics And Dynamics With Lie Groups

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Multi Body Kinematics and Dynamics with Lie Groups

Multi Body Kinematics and Dynamics with Lie Groups Book
Author : Dominique Paul Chevallier,Jean Lerbet
Publisher : Elsevier
Release : 2017-11-22
ISBN : 008102357X
Language : En, Es, Fr & De

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Book Description :

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

Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics

Structure preserving Integrators in Nonlinear Structural Dynamics and Flexible Multibody Dynamics Book
Author : Peter Betsch
Publisher : Springer
Release : 2016-05-10
ISBN : 3319318799
Language : En, Es, Fr & De

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Book Description :

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 beams and shells. Firstly, geometrically exact formulations, which are typically used in the finite element community and, secondly, the absolute nodal coordinate formulation, which is popular in the multibody dynamics community. Concerning the discretization in time, the energy-momentum method and its energy-decaying variants are discussed. It also addresses a number of issues that have arisen in the wake of the structure-preserving discretization in space. Among them are the parameterization of finite rotations, the incorporation of algebraic constraints and the computer implementation of the various numerical methods. The practical application of structure-preserving methods is illustrated by a number of examples dealing with, among others, nonlinear beams and shells, large deformation problems, long-term simulations and coupled thermo-mechanical multibody systems. In addition it links novel time integration methods to frequently used methods in industrial multibody system simulation.

Dynamics of Multibody Systems

Dynamics of Multibody Systems Book
Author : Jens Wittenburg
Publisher : Springer Science & Business Media
Release : 2007-10-20
ISBN : 3540739149
Language : En, Es, Fr & De

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Book Description :

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 deriving all of these as inevitable. Not so, says the author. Here, he takes it upon himself to describe in detail a formalism which substantially simplifies these tasks.

Kinematics and Dynamics of Multi Body Systems

Kinematics and Dynamics of Multi Body Systems Book
Author : J. Angeles,A. Kecskemethy
Publisher : Springer
Release : 2014-05-04
ISBN : 3709143624
Language : En, Es, Fr & De

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Book Description :

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.

Symbiotic Multi Robot Organisms

Symbiotic Multi Robot Organisms Book
Author : Paul Levi,Serge Kernbach
Publisher : Springer Science & Business Media
Release : 2010-05-18
ISBN : 9783642116926
Language : En, Es, Fr & De

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Book Description :

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.

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics Book
Author : Sirouspour, Shahin
Publisher : IGI Global
Release : 2013-03-31
ISBN : 1466636351
Language : En, Es, Fr & De

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Book Description :

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 robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

Intelligent Robotics and Applications

Intelligent Robotics and Applications Book
Author : Sabina Jeschke,Honghai Liu,Daniel Schilberg
Publisher : Springer
Release : 2011-12-03
ISBN : 3642254896
Language : En, Es, Fr & De

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Book Description :

The two volume set LNAI 7101 and 7102 constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoroughly reviewed and selected from numerous submissions. They are organized in topical sections on progress in indoor UAV, robotics intelligence, industrial robots, rehabilitation robotics, mechanisms and their applications, multi robot systems, robot mechanism and design, parallel kinematics, parallel kinematics machines and parallel robotics, handling and manipulation, tangibility in human-machine interaction, navigation and localization of mobile robot, a body for the brain: embodied intelligence in bio-inspired robotics, intelligent visual systems, self-optimising production systems, computational intelligence, robot control systems, human-robot interaction, manipulators and applications, stability, dynamics and interpolation, evolutionary robotics, bio-inspired robotics, and image-processing applications.

Multibody Dynamics

Multibody Dynamics Book
Author : Zdravko Terze
Publisher : Springer
Release : 2014-06-26
ISBN : 3319072609
Language : En, Es, Fr & De

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Book Description :

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 fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recent scientific developments in this prominent field of computational mechanics and contemporary engineering.

EuCoMeS 2018

EuCoMeS 2018 Book
Author : Burkhard Corves,Philippe Wenger,Mathias Hüsing
Publisher : Springer
Release : 2018-08-01
ISBN : 3319980203
Language : En, Es, Fr & De

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Book Description :

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 transmissions and gears, mechanics of robots and manipulators, theoretical kinematics. Resulting from the 7th European Conference on Mechanism Science, which was held at RWTH Aachen University on September 4-6, 2018, this works comprises an overview on current research activities across Europe. .

Interdisciplinary Applications of Kinematics

Interdisciplinary Applications of Kinematics Book
Author : Andrés Kecskeméthy,Francisco Geu Flores,Eliodoro Carrera,Dante A. Elias
Publisher : Springer
Release : 2019-05-16
ISBN : 3030164233
Language : En, Es, Fr & De

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Book Description :

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 kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds

Global Formulations of Lagrangian and Hamiltonian Dynamics on Manifolds Book
Author : Taeyoung Lee,Melvin Leok,N. Harris McClamroch
Publisher : Springer
Release : 2017-08-14
ISBN : 3319569538
Language : En, Es, Fr & De

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Book Description :

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 a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.

New Trends in Mechanism and Machine Science

New Trends in Mechanism and Machine Science Book
Author : Doina Pisla
Publisher : Springer Nature
Release : 2021-07-30
ISBN : 3030550613
Language : En, Es, Fr & De

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Book Description :

Download New Trends in Mechanism and Machine Science book written by Doina Pisla, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Geometric Algorithms for the Dynamics and Control of Multibody Systems

Geometric Algorithms for the Dynamics and Control of Multibody Systems Book
Author : Scott Robert Ploen
Publisher : Unknown
Release : 1997
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Geometric Algorithms for the Dynamics and Control of Multibody Systems book written by Scott Robert Ploen, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Dynamics and Balancing of Multibody Systems

Dynamics and Balancing of Multibody Systems Book
Author : Himanshu Chaudhary,Subir Kumar Saha
Publisher : Springer Science & Business Media
Release : 2008-09-27
ISBN : 354078179X
Language : En, Es, Fr & De

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Book Description :

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 have resulted in this book. It is expected that such developments will lead to a new research direction MuDRA, an acronym given by the authors to “Multibody Dynamics for Rural Applications. ” The way Mu- DRA is pronounced it means ‘money’ in many Indian languages. It is hoped that practicing MuDRA will save or generate money for the rural people either by saving energy consumption of their machines or making their products cheaper to manufacture, hence, generating more money for their livelihood. In this book, the initial focus was to improve the dynamic behavior of carpet scrapping machines used to wash newly woven hand-knotted c- pets of India. However, the concepts and methodologies presented in the book are equally applicable to non-rural machineries, be they robots or - tomobiles or something else. The dynamic modeling used in this book to compute the inertia-induced and constraint forces for the carpet scrapping machine is based on the concept of the decoupled natural orthogonal c- plement (DeNOC) matrices. The concept is originally proposed by the second author for the dynamics modeling and simulation of serial and - rallel-type multibody systems, e. g.

Springer Handbook of Robotics

Springer Handbook of Robotics Book
Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer Science & Business Media
Release : 2008-05-20
ISBN : 354023957X
Language : En, Es, Fr & De

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Book Description :

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 that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

Flexible Multibody Dynamics

Flexible Multibody Dynamics Book
Author : O. A. Bauchau
Publisher : Springer Science & Business Media
Release : 2010-10-23
ISBN : 9789400703353
Language : En, Es, Fr & De

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Book Description :

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. A comprehensive review of numerical tools used to enforce both holonomic and nonholonomic constraints is presented. Advanced topics such as Maggi’s, index-1, null space, and Udwadia and Kalaba’s formulations are presented because of their fundamental importance in multibody dynamics. Methodologies for the parameterization of rotation and motion are discussed and contrasted. Geometrically exact beams and shells formulations, which have become the standard in flexible multibody dynamics, are presented and numerical aspects of their finite element implementation detailed. Methodologies for the direct solution of the index-3 differential-algebraic equations characteristic of constrained multibody systems are presented. It is shown that with the help of proper scaling procedures, such equations are not more difficult to integrate than ordinary differential equations. This book is illustrated with numerous examples and should prove valuable to both students and researchers in the fields of rigid and flexible multibody dynamics.

Advances on Tensor Analysis and their Applications

Advances on Tensor Analysis and their Applications Book
Author : Francisco Bulnes
Publisher : BoD – Books on Demand
Release : 2020-09-09
ISBN : 1839625554
Language : En, Es, Fr & De

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Book Description :

This book brings together recent advances in tensor analysis and studies of its invariants such as twistors, spinors, kinematic tensors and others belonging to tensor algebras with extended structures to Lie algebras, Kac-Moody algebras, and enveloping algebras, among others. Chapters cover such topics as classical tensors and bilinear forms, tensors for exploring space–time, tensor applications in geometry and continuum media, and advanced topics in tensor analysis such as invariant theory, derived categories, hypercohomologies, k-modules, extensions of kinematic tensors, infinite dimensional operators, and more.

Applied Mechanics Reviews

Applied Mechanics Reviews Book
Author : Anonim
Publisher : Unknown
Release : 2000
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Applied Mechanics Reviews book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Modelling and Control of Mechanical Systems

Modelling and Control of Mechanical Systems Book
Author : A Astolfi,D J N Limebeer,R B Vinter,C Melchiorri,A Tornambè
Publisher : World Scientific
Release : 1997-06-01
ISBN : 1783262567
Language : En, Es, Fr & De

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Book Description :

This volume provides a general picture of the current trends in the area of automatic control, with particular emphasis on practical problems in the mechanical field. For this reason, besides theoretical contributions, it presents selected lectures on recent developments interesting from an industrial point of view, such as automotive, robotics, motion control, and electrical drives. Contents:Interconnected Mechanical Systems, Part I: Geometry of Interconnection and Implicit Hamiltonian SystemsInterconnected Mechanical Systems, Part II: The Dynamics of Spatial Mechanical NetworksA Network-Theoretical and Diakoptical Approach to Multi-Body SystemsReview of Results on Variable Structure Control for Application to Mechanical SystemsOn the Controllability and Observability Function of Nonlinear ControlPassivity-Based Control of Euler–Lagrange Systems: Applications to Robots, AC Motors and Power ConvertersThe Analysis of Motorcycle Dynamics and ControlA Mechanical Network Approach to Performance Capabilities of Passive SuspensionsFuzzy Logic Control of a Variable Displacement Hydraulic PumpExperimental Identification of Robot ManipulatorsSome Results in the Control of Flexible Mechanical SystemsThe Perfect Tracking Problem for Nonminimum Phase Systems: Applications to Flexible-Link RobotsOn Some Structural Properties of General Manipulation SystemsDesign of Parallel Force/Position Controllers and Observers for Robot ManipulatorsMotion Equations of Mechanical Systems Subject to ImpactsHybrid Feedback Strategies for the Control of Juggling RobotsInvariant Manifolds: A Tool for StabilisationInvariant Manifold Techniques for Control of Underactuated Mechanical SystemsDiscontinuous Control of the Nonholonomic IntegratorComputational Models for the Simulation of Contact Phenomena in Multibody Systems Readership: Engineers (automatic control). Reviews:“This collection will be of interest to anyone working in the area of mechanical systems and their control.”Mathematics Abstracts

Advances in Robot Kinematics Analysis and Design

Advances in Robot Kinematics  Analysis and Design Book
Author : Jadran Lenarčič,Philippe Wenger
Publisher : Springer Science & Business Media
Release : 2008-05-29
ISBN : 1402086008
Language : En, Es, Fr & De

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Book Description :

This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.