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Author:   Jorge Angeles
Publisher:   Springer-Verlag New York Inc.
Imprint:   Springer-Verlag New York Inc.
Edition:   1988 ed.
Volume:   34
Dimensions:   Width: 16.00cm , Height: 1.80cm , Length: 25.00cm
Weight:   0.440kg
ISBN:  

9780387968131

ISBN 10:   038796813
Pages:   121
Publication Date:   20 March 1989
Audience:   College/higher education ,  General/trade ,  Postgraduate, Research & Scholarly ,  General
Format:   Hardback
Publisher's Status:   Active
Availability:   Out of stock  
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Table of Contents

1 Preliminary Notions.- 1.1 Introduction.- 1.2 On Notation and Basic Definitions.- 1.3 Further Definitions.- 1.4 Invariance.- 1.5 Generalized Inverses.- 2 Displacement of a Rigid Body.- 2.1 Introduction.- 2.2 Rotation of a Rigid Body About a Fixed Point.- 2.3 The Theorem of Euler.- 2.4 The Rotation Tensor.- 2.5 General Motion of a Rigid Body. The Pose and the Screw of a Rigid Body.- 2.6 Theorems About the General Motion of a Rigid Body.- 2.7 Compatibility Equations.- 3 Velocity Analysis of Rigid-Body Motions.- 3.1 Introduction.- 3.2 Motion of a Rigid Body About a Fixed Point.- 3.3 General Instantaneous Motion of a Rigid Body. The Twist of a Rigid Body.- 3.4 Further Results on the Velocity Distribution Throughout a Rigid Body.- 3.5 Compatibility Equations.- 4 Acceleration Analysis of Rigid-Body Motions.- 4.1 Introduction.- 4.2 Acceleration Field of a Body Moving About a Fixed Point.- 4.3 Acceleration Field of a Rigid Body Under General Motion.- 4.4 Change of Observer. Coriolis’ Theorem.- 4.5 Determination of Angular Acceleration. Compatibility Equations.- 5 Kinematic Chains.- 5.1 Introduction.- 5.2 Kinematic Pairs. Classification.- 5.3 Simple Kinematic Chains. Degree of Freedom by Groups of Motion.- 5.4 The Twist of a Link and the Jacobian of a Simple Kinematic Chain.- 5.5 The Condition Number of a Kinematic Chain. Isotropy.- 5.6 Complex Kinematic Chains. An Overview.- 5.7 The Jacobian of a Multiple-Closed-Loop Kinematic Chain. Degree of Freedom.- 5.8 Holonomic and Nonholonomic Constraints.- 5.9 Analysis of Kinematic Chains.- 5.10 Synthesis of Kinematic Chains.- References.

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