Multi-Body Kinematics and Dynamics with Lie Groups - 1st Edition - ISBN: 9781785482311

Multi-Body Kinematics and Dynamics with Lie Groups

1st Edition

Authors: Dominique Chevallier Jean Lerbet
Hardcover ISBN: 9781785482311
Imprint: ISTE Press - Elsevier
Published Date: 1st December 2017
Page Count: 334
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Description

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.

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
Copyright:
© ISTE Press - Elsevier 2018
Published:
Imprint:
ISTE Press - Elsevier
Hardcover ISBN:
9781785482311

About the Author

Dominique Chevallier

Dominique Paul Chevallier is a research director at the Institute Navier-ENPC since 2006. He obtained his PhD in 1973.

Affiliations and Expertise

Ponts Paris Tech School, France

Jean Lerbet

Jean Lerbet is a research professor at Evry Val d’Essonne University.

Affiliations and Expertise

Evry University, France