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Rigid body dynamics of mechanisms

Author: Hubert Hahn
Publisher: Berlin ; London : Springer, ©2002.
Edition/Format:   Print book : EnglishView all editions and formats

An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of  Read more...


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Document Type: Book
All Authors / Contributors: Hubert Hahn
ISBN: 3540423737 9783540423737
OCLC Number: 225996394
Notes: Includes index.
Description: xvii, 336 pages : illustrations ; 24 cm
Contents: 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.
Responsibility: Hubert Hahn. 1, Theoretical basis.


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From the reviews:"The present book is a very important and useful introduction of mechanical aspects of mechatronic systems. This book is very useful for undergraduate students of mechanical Read more...

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