Abstract
The purpose of this chapter is to lay down the foundations of the kinetostatics and dynamics of rigid bodies, as needed in the study of multibody mechanical systems. With this background, we study the kinetostatics and dynamics of robotic manipulators of the serial
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Notes
- 1.
A body undergoes a pure translation when all its points move under the same displacement.
- 2.
Smoothness means that they do not introduce jump discontinuities upon differentiation.
- 3.
See Exercise 3.17.
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Angeles, J. (2014). Fundamentals of Rigid-Body Mechanics. In: Fundamentals of Robotic Mechanical Systems. Mechanical Engineering Series, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-319-01851-5_3
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DOI: https://doi.org/10.1007/978-3-319-01851-5_3
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