Buch, Englisch, 336 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 1490 g
1 Theoretical Basis
Buch, Englisch, 336 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 1490 g
ISBN: 978-3-540-42373-7
Verlag: Springer Berlin Heidelberg
The dynamics of mechanical rigid-body mechanisms is a highly developed discipline. The model equations that apply to the tremendous variety of ap plications of rigid-body systems in industrial practice are based on just a few basic laws of, for example, Newton, Euler, or Lagrange. These basic laws can be written in an extremely compact, symmetrical, and esthetic form, simple enough to be easily learned and kept in mind by students and engi neers, not only from the area of mechanics but also from other disciplines such as physics, or mathematics, or even control, hydraulics, or electronics. This latter aspect is of immense practical importance since mechanisms, ma chines, robots, and vehicles in modern industrial practice (sometimes called mechatronic systems) usually include various subsystems from the areas of hydraulics, electronics, pneumatics, informatics, and control, and are built by engineers trained in quite different disciplines. Conventional methods of modeling rigid-body mechanisms In contrast to the comparatively simple and easy-to-learn basic laws of rigid body systems, the practical application of these laws to the planar or spatial motions of industrial mechanisms rapidly leads to extremely lengthy and complex equations of motion, where the form and complexity of the model equations depends critically on the choice of the model coordinates. Until recently this had the following consequences: 1. A large variety of specialized techniques have been developed, each suit able for efficiently modeling a special-purpose mechanism.
Zielgruppe
Research
Autoren/Hrsg.
Fachgebiete
- Naturwissenschaften Physik Angewandte Physik
- Naturwissenschaften Physik Physik Allgemein Theoretische Physik, Mathematische Physik, Computerphysik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
- Naturwissenschaften Physik Mechanik
- Technische Wissenschaften Technik Allgemein Physik, Chemie für Ingenieure
- Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau Mechatronik, Mikrosysteme (MEMS), Nanosysteme
Weitere Infos & Material
1. Introduction.- 2. Planar and spatial vectors, matrices, and vector functions.- 3. Constraint equations and constraint reaction forces of mechanisms.- 4. Dynamics of planar and spatial rigid-body systems.- 5. Model equations of planar and spatial joints.- 6. Constitutive relations of planar and spatial external forces and torques.- A. Appendix.- A.1 Special vector and matrix operations used in mechanics.- A.1.1 Euclidean vector space.- A.1.2 Scalar product and cross product of planar vectors.- A.1.3 Cross product of spatial vectors.- A.1.4 Time derivatives of planar orientation matrices and of planar vectors in different frames.- A.1.5 Time derivatives of spatial orientation matrices and of spatial vectors in different frames.- A.1.6 Derivatives of vector functions.- A.2.1 Kinetic energy of an unconstrained rigid body.- A.2.3 Spatial equations of motion of a constrained rigid body.- A.4 Constraint equations of a general universal joint.- A.4.1 Notation and abbreviations.- A.4.2 Computation of constraint equations.- A.4.2.1 First constraint equation.- A.4.2.2 Second constraint equation.- A.4.2.3 Third constraint equation.- A.4.2.4 Fourth constraint equation.- A.4.3 Computation of the shortest distance between two rotation axes.- References.- List of figures.
