Analytical mechanics. An introduction

Description

Robotic manipulators are becoming increasingly important in research and industry, and an understanding of statics and kinematics is essential to solving problems in this field. This book, written by an eminent researcher and practitioner, provides a thorough introduction to statics and first order instantaneous kinematics with applications to robotics. The emphasis is on serial and parallel planar manipulators and mechanisms. The text differs from others in that it is based solely on the concepts of classical geometry. It is the first to describe how to introduce linear springs into the connectors of parallel manipulators and to provide a proper geometric method for controlling the force and motion of a rigid lamina. Both students and practicing engineers will find this book easy to follow, with its clear text, abundant illustrations, exercises, and real-world projects Geometric and kinematic foundations of lagrangian mechanics -- Dynamics : general laws and the dynamics of a point particle -- One-dimensional motion -- The dynamics of discrete systems : Lagrangian fomalism -- Motion in a central field -- Rigid bodies : geometry and kinematics -- The mechanics of rigid bodies : dynamics -- Analytical mechanics : Hamiltonian formalism -- Analytical mechanics : variational principles -- Analytical mechanics : canonical formalism -- Analytic mechanics : Hamilton-Jacobi theory and integrability -- Analytical mechanics : canonical perturbation theory -- Analytical mechanics : an introduction to ergodic theory and the chaotic motion -- Statistical mechanics : kinetic theory -- Statistical mechanics : Gibbs sets -- Lagrangian formalism in continuum mechanics