6. Motion Kinematics

  1. Reza N. Jazar

Published Online: 24 FEB 2011

DOI: 10.1002/9780470950029.ch6

Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications

Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications

How to Cite

Jazar, R. N. (2011) Motion Kinematics, in Advanced Dynamics: Rigid Body, Multibody, and Aerospace Applications, John Wiley & Sons, Inc., Hoboken, NJ, USA. doi: 10.1002/9780470950029.ch6

Author Information

  1. School of Aerospace, Mechanical, and Manufacturing Engineering, RMIT University Melbourne, Australia

Publication History

  1. Published Online: 24 FEB 2011
  2. Published Print: 9 MAR 2011

ISBN Information

Print ISBN: 9780470398357

Online ISBN: 9780470950029

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Keywords:

  • motion kinematics, general motion of a rigid body - displacement and rotation;
  • rigid-body motion - rotation and translation of a body coordinate frame;
  • inverse and reverse homogeneous transformation;
  • the Scara robot;
  • Plücker line coordinate - set of six coordinates defining a directed line in space

Summary

This chapter contains sections titled:

  • Rigid-Body Motion

  • Homogeneous Transformation

  • Inverse and Reverse Homogeneous Transformation

  • Compound Homogeneous Transformation

  • ☆ Screw Motion

  • ☆ Inverse Screw

  • ☆ Compound Screw Transformation

  • ☆ Plücker Line Coordinate

  • ☆ Geometry of Plane and Line

  • ☆ Screw and Plücker Coordinate

  • Key Symbols

  • Exercises