Multi-Body Kinematics and Dynamics with Lie Groups
1st Edition
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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.
Key Features
- 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
Readership
Engineers and Scientists working with multibody systems (robotics, designers). Organizations such as ASME, ASCE, any university libraries
Table of Contents
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
7. Dynamics
8. Dynamics of Rigid Body Systems
Details
- No. of pages:
- 334
- Language:
- English
- Copyright:
- © ISTE Press - Elsevier 2018
- Published:
- 22nd November 2017
- Imprint:
- ISTE Press - Elsevier
- Hardcover ISBN:
- 9781785482311
- eBook ISBN:
- 9780081023570
About the Authors
Dominique Chevallier
Dominique P. Chevallier is Emeritus Research Director at Navier Laboratory, Ecole Nationale des Ponts et Chaussées in France. His research interests are the mathematical methods of mechanics.
Affiliations and Expertise
Ecole Nationale des Ponts et Chaussées, France
Jean Lerbet
Jean Lerbet is Professor at the Universities of Evry and Paris Saclay in France. His research interests include differential geometry and mechanics, and stability.
Affiliations and Expertise
Universities of Evry and Paris Saclay, France
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