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E-book
Advanced Dynamics: Rigid Body, Multibody, and Aerospace ApplicationsISBN: 978-0-470-89213-8
E-book
1312 pages
February 2011
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Part I Fundamentals.
1 Fundamentals of Kinematics.
1.1 Coordinate Frame and Position Vector.
1.2 Vector Algebra.
1.3 Orthogonal Coordinate Frames.
1.4 Differential Geometry.
1.5 Motion Path Kinematics.
1.6 Fields.
2 Fundamentals of Dynamics.
2.1 Laws of Motion.
2.2 Equation of Motion.
2.3 Special Solutions.
2.4 Spatial and Temporal Integrals.
2.5 Application of Dynamics.
Part II Geometric Kinematics.
3 Coordinate Systems.
3.1 Cartesian Coordinate System.
3.2 Cylindrical Coordinate System.
3.3 Spherical Coordinate System.
3.4 Nonorthogonal Coordinate Frames.
3.5 Curvilinear Coordinate System.
4 Rotation Kinematics.
4.1 Rotation About Global Cartesian Axes.
4.2 Successive Rotations About Global Axes.
4.3 Global Roll–Pitch–Yaw Angles.
4.4 Rotation About Local Cartesian Axes.
4.5 Successive Rotations About Local Axes.
4.6 Euler Angles.
4.7 Local Roll–Pitch–Yaw Angles.
4.8 Local versus Global Rotation.
4.9 General Rotation.
4.10 Active and Passive Rotations.
4.11 Rotation of Rotated Body.
5 Orientation Kinematics.
5.1 Axis–Angle Rotation.
5.2 Euler Parameters.
5.3 Quaternion.
5.4 Spinors and Rotators.
5.5 Problems in Representing Rotations.
5.6 Composition and Decomposition of Rotations.
6 Motion Kinematics.
6.1 Rigid-Body Motion.
6.2 Homogeneous Transformation.
6.3 Inverse and Reverse Homogeneous Transformation.
6.4 Compound Homogeneous Transformation.
6.5 Screw Motion.
6.6 Inverse Screw.
6.7 Compound Screw Transformation.
6.8 Plücker Line Coordinate.
6.9 Geometry of Plane and Line.
6.10 Screw and Plucker Coordinate.
7 Multibody Kinematics.
7.1 Multibody Connection.
7.2 Denavit–Hartenberg Rule.
7.3 Forward Kinematics.
7.4 Assembling Kinematics.
7.5 Order-Free Rotation.
7.6 Order-Free Transformation.
7.7 Forward Kinematics by Screw.
7.8 Caster Theory in Vehicles.
7.9 Inverse Kinematics.
Part III Derivative Kinematics.
8 Velocity Kinematics.
8.1 Angular Velocity.
8.2 Time Derivative and Coordinate Frames.
8.3 Multibody Velocity.
8.4 Velocity Transformation Matrix.
8.5 Derivative of a Homogeneous Transformation Matrix.
8.6 Multibody Velocity.
8.7 Forward-Velocity Kinematics.
8.8 Jacobian-Generating Vector.
8.9 Inverse-Velocity Kinematics.
9 Acceleration Kinematics.
9.1 Angular Acceleration.
9.2 Second Derivative and Coordinate Frames.
9.3 Multibody Acceleration.
9.4 Particle Acceleration.
9.5 Mixed Double Derivative.
9.6 Acceleration Transformation Matrix.
9.7 Forward-Acceleration Kinematics.
9.8 Inverse-Acceleration Kinematics.
10 Constraints.
10.1 Homogeneity and Isotropy.
10.2 Describing Space.
10.3 Holonomic Constraint.
10.4 Generalized Coordinate.
10.5 Constraint Force.
10.6 Virtual and Actual Works.
10.7 Nonholonomic Constraint.
10.8 Differential Constraint.
10.9 Generalized Mechanics.
10.10 Integral of Motion.
10.11 Methods of Dynamics.
Part IV Dynamics.
11 Rigid Body and Mass Moment.
11.1 Rigid Body.
11.2 Elements of the Mass Moment Matrix.
11.3 Transformation of Mass Moment Matrix.
11.4 Principal Mass Moments.
12 Rigid-Body Dynamics.
12.1 Rigid-Body Rotational Cartesian Dynamics.
12.2 Rigid-Body Rotational Eulerian Dynamics.
12.3 Rigid-Body Translational Dynamics.
12.4 Classical Problems of Rigid Bodies.
12.5 Multibody Dynamics.
12.6 Recursive Multibody Dynamics.
13 Lagrange Dynamics.
13.1 Lagrange Form of Newton Equations.
13.2 Lagrange Equation and Potential Force.
13.3 Variational Dynamics.
13.4 Hamilton Principle.
13.5 Lagrange Equation and Constraints.
13.6 Conservation Laws.
13.7 Generalized Coordinate System.
13.8 Multibody Lagrangian Dynamics.
References.
A Global Frame Triple Rotation.
B Local Frame Triple Rotation.
C Principal Central Screw Triple Combination.
D Industrial Link DH Matrices.
E Trigonometric Formula.
Index.
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