Page 18 - Dynamics of Mechanical Systems

0593_ FM_fm Page 17 Tuesday, May 14, 2002 10:52 AM

19.4 Angular Velocity of Robot Links...................................................................................665
19.5 Partial Angular Velocities ...............................................................................................667
19.6 Transformation Matrix Derivatives...............................................................................668
19.7 Angular Acceleration of the Robot Links ....................................................................668
19.8 Joint and Mass Center Position .....................................................................................669
19.9 Mass Center Velocities.....................................................................................................671
19.10 Mass Center Partial Velocities........................................................................................673
19.11 Mass Center Accelerations..............................................................................................673
19.12 End Effector Kinematics..................................................................................................674
19.13 Kinetics: Applied (Active) Forces..................................................................................677
19.14 Kinetics: Passive (Inertia) Forces ...................................................................................680
19.15 Dynamics: Equations of Motion....................................................................................681
19.16 Redundant Robots............................................................................................................682
19.17 Constraint Equations and Constraint Forces...............................................................684
19.18 Governing Equation Reduction and Solution: Use of Orthogonal
Complement Arrays ........................................................................................................687
19.19 Discussion, Concluding Remarks, and Closure..........................................................689
References.....................................................................................................................................691
Problems .......................................................................................................................................691

Chapter 20 Application with Biosystems, Human Body Dynamics...............................701
20.1 Introduction.......................................................................................................................701
20.2 Human Body Modeling ..................................................................................................702
20.3 A Whole-Body Model: Preliminary Considerations ..................................................703
20.4 Kinematics: Coordinates .................................................................................................706
20.5 Kinematics: Velocities and Acceleration.......................................................................709
20.6 Kinetics: Active Forces ....................................................................................................715
20.7 Kinetics: Muscle and Joint Forces .................................................................................716
20.8 Kinetics: Inertia Forces ....................................................................................................719
20.9 Dynamics: Equations of Motion....................................................................................721
20.10 Constrained Motion.........................................................................................................722
20.11 Solutions of the Governing Equations .........................................................................724
20.12 Discussion: Application and Future Development ....................................................727
References.....................................................................................................................................730
Problems .......................................................................................................................................731

Appendix I Centroid and Mass Center Location for Commonly Shaped Bodies
with Uniform Mass Distribution ...................................................................735

Appendix II Inertia Properties (Moments and Products of Inertia)
for Commonly Shaped Bodies with Uniform Mass Distribution ............743

Index .............................................................................................................................................753