Multi-body Kinematics and Dynamics with Lie Groups starts with an overview of the practical aspects of Lie groups based on the example of rotation groups and the Euclidean group which may be used in problems of kinematics and dynamics of rigid bodies. The book includes exercises allowing the reader to get familiar with this mathematical framework. For the more experienced readers, theoretical results that have appeared in some scientific articles are also included. For example, a complete classification of singularities of mechanisms is developed through exercises.
- 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
Engineers and Scientists working with multibody systems (robotics, designers). Organizations such as ASME, ASCE, any university libraries
1. The Displacement Group as a Lie Group
2. Dual Numbers and "Dual Vectors" in Kinematics
3. The "Transference Principle"
4. Kinematics of a Rigid Body and Rigid Body Systems
5. Kinematics of Open Chains, Singularities
6. Closed Kinematic Chains: Mechanisms Theory
8. Dynamics of Rigid Body Systems
- No. of pages:
- © ISTE Press - Elsevier 2018
- 1st December 2017
- ISTE Press - Elsevier
- Hardcover ISBN:
Dominique Paul Chevallier is a research director at the Institute Navier-ENPC since 2006. He obtained his PhD in 1973.
Ponts Paris Tech School, France
Jean Lerbet is a research professor at Evry Val d’Essonne University.
Evry University, France