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A Concise Introduction to Mechanics of Rigid Bodies

Multidisciplinary Engineering

  • Textbook
  • © 2017

Overview

Authors:
  1. L. Huang

    1. School of Engineering, Computer and Mathematical Sciences, Auckland University of Technology, Auckland, New Zealand

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  • Streamlines the treatment of rigid body motions in one-, two, or three-dimensional spaces within an unified mathematical framework supported with vector, matrix, and quaternion operations;

  • Maximizes reader understanding of analysis of rotational kinematics and dynamics;

  • Explains theoretical concepts through examples taken from across engineering disciplines and provides linkages to applications and more advanced courses (e.g. industrial robotics);

  • Features updated treatments of concepts in all chapters and case studies.

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Table of contents (5 chapters)

  1. Front Matter

    Pages i-xv
    Download chapter PDF

  2. Preliminaries on Vectors, Matrices, Complex Numbers and Quaternions

    • L. Huang
    Pages 1-25

  3. Orientation and Position Representation

    • L. Huang
    Pages 27-55

  4. Velocity and Acceleration

    • L. Huang
    Pages 57-91

  5. Dynamics

    • L. Huang
    Pages 93-165

  6. Case Studies

    • L. Huang
    Pages 167-185

  7. Back Matter

    Pages 187-191
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Keywords

About this book

This updated second edition broadens the explanation of rotational kinematics and dynamics — the most important aspect of rigid body motion in three-dimensional space and a topic of much greater complexity than linear motion. It expands treatment of vector and matrix, and includes quaternion operations to describe and analyze rigid body motion which are found in robot control, trajectory planning, 3D vision system calibration, and hand-eye coordination of robots in assembly work, etc. It features updated treatments of concepts in all chapters and case studies.

The textbook retains its comprehensiveness in coverage and compactness in size, which make it easily accessible to the readers from multidisciplinary areas who want to grasp the key concepts of rigid body mechanics which are usually scattered in multiple volumes of traditional textbooks. Theoretical concepts are explained through examples taken from across engineering disciplines and links to applications and more advanced courses (e.g. industrial robotics) are provided.


Ideal for students and practitioners, this book provides readers with a clear path to understanding rigid body mechanics and its significance in numerous sub-fields of mechanical engineering and related areas.




Authors and Affiliations

  • School of Engineering, Computer and Mathematical Sciences, Auckland University of Technology, Auckland, New Zealand

    L. Huang

About the author

Dr. Loulin Huang is Associate Professor of Mechanical Engineering at Auckland University of Technology in New Zealand. His research interests include Mechatronics, Robotics, and Dynamics and Control.

Bibliographic Information

  • Book Title: A Concise Introduction to Mechanics of Rigid Bodies

  • Book Subtitle: Multidisciplinary Engineering

  • Authors: L. Huang

  • DOI: https://doi.org/10.1007/978-3-319-45041-4

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2017

  • Hardcover ISBN: 978-3-319-45040-7Published: 16 December 2016

  • Softcover ISBN: 978-3-319-83194-7Published: 04 July 2018

  • eBook ISBN: 978-3-319-45041-4Published: 26 November 2016

  • Edition Number: 2

  • Number of Pages: XV, 191

  • Topics: Theoretical and Applied Mechanics, Mechanical Engineering, Mechatronics, Robotics and Automation

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