Rigid Body Dynamics of Mechanisms

2 Applications

  • Hubert Hahn

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Hubert Hahn
    Pages 1-7
  3. Back Matter
    Pages 623-665

About this book


The second volume of Rigid Body Dynamics of Mechanisms covers applications via a systematic method for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume that introduces the theoretical mechanical aspects of mechatronic systems. Here the focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, plus active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. The examples included are a likely source from which to choose models for university lectures.


Rigid body Transformation kinematics mechatronics model modeling robot robotics

Authors and affiliations

  • Hubert Hahn
    • 1
  1. 1.Regelungstechnik und Systemdynamik, FB MaschinenbauUniversität Gh KasselKasselGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2003
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-05695-6
  • Online ISBN 978-3-662-09769-4
  • Buy this book on publisher's site