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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.

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.

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.

Dynamics and Control of Multibody Systems

Dynamics and Control of Multibody Systems Book
Author : Jerrold E. Marsden,Perinkulam Sambamurthy Krishnaprasad
Publisher : American Mathematical Soc.
Release : 1989
ISBN : 0821851047
Language : En, Es, Fr & De

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Book Description :

The study of complex, interconnected mechanical systems with rigid and flexible articulated components is of growing interest to both engineers and mathematicians. Recent work in this area reveals a rich geometry underlying the mathematical models used in this context. In particular, Lie groups of symmetries, reduction, and Poisson structures play a significant role in explicating the qualitative properties of multibody systems. In engineering applications, it is important to exploit the special structures of mechanical systems. For example, certain mechanical problems involving control of interconnected rigid bodies can be formulated as Lie-Poisson systems. The dynamics and control of robotic, aeronautic, and space structures involve difficulties in modeling, mathematical analysis, and numerical implementation. For example, a new generation of spacecraft with large, flexible components are presenting new challenges to the accurate modeling and prediction of the dynamic behavior of such structures. Recent developments in Hamiltonian dynamics and coupling of systems with symmetries has shed new light on some of these issues, while engineering questions have suggested new mathematical structures. These kinds of considerations motivated the organization of the AMS-IMS-SIAM Joint Summer Research Conference on Control Theory and Multibody Systems, held at Bowdoin College in August, 1988. This volume contains the proceedings of that conference. The papers presented here cover a range of topics, all of which could be viewed as applications of geometrical methods to problems arising in dynamics and control. The volume contains contributions from some of the top researchers and provides an excellent overview of the frontiers of research in this burgeoning area.

ACM Symposium on Solid and Physical Modeling

ACM Symposium on Solid and Physical Modeling Book
Author : Anonim
Publisher : Unknown
Release : 2005
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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Multibody Dynamics 2019

Multibody Dynamics 2019 Book
Author : Andrés Kecskeméthy,Francisco Geu Flores
Publisher : Springer
Release : 2019-06-28
ISBN : 3030231321
Language : En, Es, Fr & De

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Book Description :

In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.

Dynamics and Nonlinear Attitude Control of Multibody Space Systems

Dynamics and Nonlinear Attitude Control of Multibody Space Systems Book
Author : Chunlei Rui
Publisher : Unknown
Release : 1997
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Dynamics and Nonlinear Attitude Control of Multibody Space Systems book written by Chunlei Rui, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Mathematical Reviews

Mathematical Reviews Book
Author : Anonim
Publisher : Unknown
Release : 2006
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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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 Control of Multibody Systems

Dynamics and Control of Multibody Systems Book
Author : Jerrold E. Marsden,Perinkulam Sambamurthy Krishnaprasad
Publisher : American Mathematical Soc.
Release : 1989
ISBN : 0821851047
Language : En, Es, Fr & De

GET BOOK

Book Description :

The study of complex, interconnected mechanical systems with rigid and flexible articulated components is of growing interest to both engineers and mathematicians. Recent work in this area reveals a rich geometry underlying the mathematical models used in this context. In particular, Lie groups of symmetries, reduction, and Poisson structures play a significant role in explicating the qualitative properties of multibody systems. In engineering applications, it is important to exploit the special structures of mechanical systems. For example, certain mechanical problems involving control of interconnected rigid bodies can be formulated as Lie-Poisson systems. The dynamics and control of robotic, aeronautic, and space structures involve difficulties in modeling, mathematical analysis, and numerical implementation. For example, a new generation of spacecraft with large, flexible components are presenting new challenges to the accurate modeling and prediction of the dynamic behavior of such structures. Recent developments in Hamiltonian dynamics and coupling of systems with symmetries has shed new light on some of these issues, while engineering questions have suggested new mathematical structures. These kinds of considerations motivated the organization of the AMS-IMS-SIAM Joint Summer Research Conference on Control Theory and Multibody Systems, held at Bowdoin College in August, 1988. This volume contains the proceedings of that conference. The papers presented here cover a range of topics, all of which could be viewed as applications of geometrical methods to problems arising in dynamics and control. The volume contains contributions from some of the top researchers and provides an excellent overview of the frontiers of research in this burgeoning area.

Dissertation Abstracts International

Dissertation Abstracts International Book
Author : Anonim
Publisher : Unknown
Release : 2004
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms

A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms Book
Author : Joseph Francis D'Costa
Publisher : Unknown
Release : 1994
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download A Mode Decomposition Based Finite Element Formulation for the Nonlinear Dynamics of Flexible Spatial Structures and Mechanisms book written by Joseph Francis D'Costa, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005

Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences  2005 Book
Author : Anonim
Publisher : Unknown
Release : 2005
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences 2005 book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Proceedings of the ASME Design Engineering Technical Conferences

Proceedings of the     ASME Design Engineering Technical Conferences Book
Author : Anonim
Publisher : Unknown
Release : 2005
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Proceedings of the ASME Design Engineering Technical Conferences book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Proceedings of ACM SIGGRAPH 2005

Proceedings of ACM SIGGRAPH 2005 Book
Author : Anonim
Publisher : Unknown
Release : 2005
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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Nonlinear Control of Multibody Systems with Symmetries Via Shape Change

Nonlinear Control of Multibody Systems with Symmetries Via Shape Change Book
Author : Jinglai Shen
Publisher : Unknown
Release : 2002
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Nonlinear Control of Multibody Systems with Symmetries Via Shape Change book written by Jinglai Shen, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Control and Simulation of Multibody Systems

Control and Simulation of Multibody Systems Book
Author : Jeffrey Michael Wendlandt
Publisher : Unknown
Release : 1997
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Control and Simulation of Multibody Systems book written by Jeffrey Michael Wendlandt, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Journal of Dynamic Systems Measurement and Control

Journal of Dynamic Systems  Measurement  and Control Book
Author : Anonim
Publisher : Unknown
Release : 2001
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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Recent Trends in Robotics

Recent Trends in Robotics Book
Author : Mohammad Jamshidi,J. Y. S. Luh,Mohsen Shahinpoor
Publisher : North Holland
Release : 1986
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Recent Trends in Robotics book written by Mohammad Jamshidi,J. Y. S. Luh,Mohsen Shahinpoor, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.