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picture1_Dynamics Of Rigid Bodies Pdf 158247 | Rbd1 Item Download 2023-01-19 17-39-02


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File: Dynamics Of Rigid Bodies Pdf 158247 | Rbd1 Item Download 2023-01-19 17-39-02
from particles to rigid bodies particles rigid bodies no rotations 6 dofs translation rotation linear velocity v only linear velocity v 3n dofs angular velocity comp768 m lin outline rigid ...

icon picture PDF Filetype PDF | Posted on 19 Jan 2023 | 2 years ago
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            From Particles to Rigid Bodies
           • Particles                      • Rigid bodies
               – No rotations                   – 6 DoFs (translation + rotation)
               – Linear velocity v only         – Linear velocity v
               – 3N DoFs                        – Angular velocity ω
                                      COMP768- M.Lin
                          Outline
         • Rigid Body Representation
         • Kinematics
         • Dynamics
         • Simulation Algorithm
         • Collisions and Contact Response
                              COMP768- M.Lin
                      Coordinate Systems
                        Body Space
         • Body Space (Local Coordinate System)
             – Rigid bodies are defined relative to this system
             – Center of mass is the origin (for convenience)
                 • We will specify body-related physical properties (inertia, …) 
                   in this frame
                                        COMP768- M.Lin
                    Coordinate Systems
                                                    World Space
           • World Space:
             rigid body transformation to common frame
                     translation                    rotation
                                   COMP768- M.Lin
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...From particles to rigid bodies no rotations dofs translation rotation linear velocity v only n angular comp m lin outline body representation kinematics dynamics simulation algorithm collisions and contact response coordinate systems space local system are defined relative this center of mass is the origin for convenience we will specify related physical properties inertia in frame world transformation common...

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