Computational Kinematics

Computational Kinematics

Author: Andrés Kecskeméthy

Publisher: Springer Science & Business Media

Published: 2009-10-06

Total Pages: 394

ISBN-13: 3642019471

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Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.


Computational Kinematics

Computational Kinematics

Author: Saïd Zeghloul

Publisher: Springer

Published: 2017-07-03

Total Pages: 611

ISBN-13: 3319608673

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This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.


Computational Contact Mechanics

Computational Contact Mechanics

Author: Peter Wriggers

Publisher: Springer Science & Business Media

Published: 2008-04-01

Total Pages: 252

ISBN-13: 3211772987

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Topics of this book span the range from spatial and temporal discretization techniques for contact and impact problems with small and finite deformations over investigations on the reliability of micromechanical contact models over emerging techniques for rolling contact mechanics to homogenization methods and multi-scale approaches in contact problems.


Computational Contact and Impact Mechanics

Computational Contact and Impact Mechanics

Author: Tod A. Laursen

Publisher: Springer Science & Business Media

Published: 2003-05-12

Total Pages: 476

ISBN-13: 9783540429067

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Many physical systems require the description of mechanical interaction across interfaces if they are to be successfully analyzed. Examples in the engineered world range from the design of prosthetics in biomedical engi neering (e. g. , hip replacements); to characterization of the response and durability of head/disk interfaces in computer magnetic storage devices; to development of pneumatic tires with better handling characteristics and increased longevity in automotive engineering; to description of the adhe sion and/or relative slip between concrete and reinforcing steel in structural engineering. Such mechanical interactions, often called contact/impact in teractions, usually necessitate at minimum the determination of areas over which compressive pressures must act to prevent interpenetration of the mechanical entities involved. Depending on the application, frictional be havior, transient interaction of interfaces with their surroundings (e. g. , in termittent stick/slip), thermo-mechanical coupling, interaction with an in tervening lubricant and/or fluid layer, and damage of the interface (i. e. , wear) may also be featured. When taken together (or even separately!), these features have the effect of making the equations of mechanical evolu tion not only highly nonlinear, but highly nonsmooth as well. While many modern engineering simulation packages possess impressive capabilities in the general area of nonlinear mechanics, it can be contended that methodologies typically utilized for contact interactions are relatively immature in comparison to other components of a nonlinear finite element package, such as large deformation kinematics, inelastic material modeling, nonlinear equation solving, or linear solver technology.


Computational Kinematics '95

Computational Kinematics '95

Author: J.-P. Merlet

Publisher: Springer Science & Business Media

Published: 1995

Total Pages: 328

ISBN-13:

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The trends and progress attained in computational kinematics over a broad class of problems are grouped into six parts describing the main themes: kinematics algorithms, discussing kinematics problems in light of their solution algorithms; kinematics of mechanisms, studying problems related to specific mechanisms; singularities; workspace, discussing the determination of the workspace of given mechanisms; parallel manipulators; and motion and grasp planning, touching on computational geometry. The volume contains a representative sample of the most modern techniques available for kinetics problems, including techniques based on advances in algebraic geometry. Researchers, graduate students and practising engineers in work relating to kinematics, robotics, machine design and computer science should find this work useful.


Computational Dynamics

Computational Dynamics

Author: Ahmed A. Shabana

Publisher: John Wiley & Sons

Published: 2001-06-25

Total Pages: 521

ISBN-13: 0471053260

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A practical approach to the computational methods used to solve real-world dynamics problems Computational dynamics has grown rapidly in recent years with the advent of high-speed digital computers and the need to develop simulation and analysis computational capabilities for mechanical and aerospace systems that consist of interconnected bodies. Computational Dynamics, Second Edition offers a full introduction to the concepts, definitions, and techniques used in multibody dynamics and presents essential topics concerning kinematics and dynamics of motion in two and three dimensions. Skillfully organized into eight chapters that mirror the standard learning sequence of computational dynamics courses, this Second Edition begins with a discussion of classical techniques that review some of the fundamental concepts and formulations in the general field of dynamics. Next, it builds on these concepts in order to demonstrate the use of the methods as the foundation for the study of computational dynamics. Finally, the book presents different computational methodologies used in the computer-aided analysis of mechanical and aerospace systems. Each chapter features simple examples that show the main ideas and procedures, as well as straightforward problem sets that facilitate learning and help readers build problem-solving skills. Clearly written and ready to apply, Computational Dynamics, Second Edition is a valuable reference for both aspiring and practicing mechanical and aerospace engineers.


Computational Analysis of Visual Motion

Computational Analysis of Visual Motion

Author: Amar Mitiche

Publisher: Springer Science & Business Media

Published: 2013-06-29

Total Pages: 242

ISBN-13: 1475797850

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Image motion processing is important to machine vision systems because it can lead to the recovery of 3D structure and motion. Author Amar Mitiche offers a comprehensive mathematical treatment of this key subject in visual systems research. Mitiche examines the interpretation of point correspondences as well as the interpretation of straight line correspondences and optical flow. In addition, the author considers interpretation by knowledge-based systems and presents the relevant mathematical basis for 3D interpretation.


Computational Contact Mechanics

Computational Contact Mechanics

Author: Alexander Konyukhov

Publisher: Springer Science & Business Media

Published: 2012-08-14

Total Pages: 446

ISBN-13: 3642315313

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This book contains a systematical analysis of geometrical situations leading to contact pairs -- point-to-surface, surface-to-surface, point-to-curve, curve-to-curve and curve-to-surface. Each contact pair is inherited with a special coordinate system based on its geometrical properties such as a Gaussian surface coordinate system or a Serret-Frenet curve coordinate system. The formulation in a covariant form allows in a straightforward fashion to consider various constitutive relations for a certain pair such as anisotropy for both frictional and structural parts. Then standard methods well known in computational contact mechanics such as penalty, Lagrange multiplier methods, combination of both and others are formulated in these coordinate systems. Such formulations require then the powerful apparatus of differential geometry of surfaces and curves as well as of convex analysis. The final goals of such transformations are then ready-for-implementation numerical algorithms within the finite element method including any arbitrary discretization techniques such as high order and isogeometric finite elements, which are most convenient for the considered geometrical situation. The book proposes a consistent study of geometry and kinematics, variational formulations, constitutive relations for surfaces and discretization techniques for all considered geometrical pairs and contains the associated numerical analysis as well as some new analytical results in contact mechanics.


Nonlinear Control and Analytical Mechanics

Nonlinear Control and Analytical Mechanics

Author: Harry G. Kwatny

Publisher: Springer Science & Business Media

Published: 2000-09-08

Total Pages: 338

ISBN-13: 9780817641474

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During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.