ISSN:
1573-272X
Keywords:
exponential map
;
Cayley's transform
;
rigid and elastic body motion
;
rotations
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract This work presents a complete formulation of the representationand parameterization of frame motion as a tool to derive, in aconvenient form, the kinematic and dynamic governing equations ofmechanical systems characterized by both position and orientationfields. Typical applications are rigid bodies, beams, shells, andmultibody systems. The description of such systems may be performedusing compact 4-D and 6-D matrix representations, leading to theextension of many of the well-known concepts and properties of rotationsto the group of rigid displacements. Two parameterization procedures arefully developed in connection to the proposed representations: theexponential map of motion and Cayley's parameterization. Both allow fora consistent, unified treatment of the coupled linear and angularcomponents of motion. This approach entails remarkable algorithmicimplications.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1009830626597
Permalink