相关论文: A geometrical introduction to screw theory

The theory of screws clarifies many analogies between apparently unrelated notions in mechanics, including the duality between forces and angular velocities. It is known that the real 6-dimensional space of screws can be endowed with an…

Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a…

This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original…

This work provides a comprehensive overview of the fundamental concepts in continuum mechanics, focusing on the behaviour of materials under mechanical loads. It discusses the distinction between elastic and plastic, highlighting their…

After three decades of computational multibody system (MBS) dynamics, current research is centered at the development of compact and user friendly yet computationally efficient formulations for the analysis of complex MBS. The key to this…

Contraction theory is a mathematical framework for studying the convergence, robustness, and modularity properties of dynamical systems and algorithms. In this opinion paper, we provide five main opinions on the virtues of contraction…

The scope of this contribution is to present an overview of the theory of structured deformations of continua, together with some applications. Structured deformations aim at being a unified theory in which elastic and plastic behaviours,…

This is an introduction to some recent developments in string theory and M theory. We try to concentrate on the main physical aspects, and often leave more technical details to the original literature.

Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…

Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…

In the paper, some concepts of modern differential geometry are used as a basis to develop an invariant theory of mechanical systems, including systems with gyroscopic forces. An interpretation of systems with gyroscopic forces in the form…

We present several analytic theories and their relations to each other related to screw functions, taking the screw function of the simplest screw line as an example. Note that this article does not contain any new results.

Trajectory segmentation refers to dividing a trajectory into meaningful consecutive sub-trajectories. This paper focuses on trajectory segmentation for 3D rigid-body motions. Most segmentation approaches in the literature represent the…

We present a novel derivation of the elastic theory of shells. We use the language of Geometric algebra, which allows us to express the fundamental laws in component-free form, thus aiding physical interpretation. It also provides the tools…

We investigate the nonuniform motion of a straight screw dislocation in infinite media in the framework of the translational gauge theory of dislocations. The equations of motion are derived for an arbitrary moving screw dislocation. The…

Social physics is the application of ideas, concepts and tools from physics to study social phenomena. In this article, we present a mechanical theory underlying a mathematical treatment of social physics. We explore the possibility of…

This paper presents a generalized theory which describes how applied loads are distributed within rigid bodies handled by redundantly-actuated robotic systems composed of multiple independent closed-loop kinematic chains. The theory fully…

This paper focuses on rotational phenomena of rigid body kinematics. It discusses them in a group-theoretic approach as completely as possible, using methods and notations as intuitive as possible. With a review of current literature, this…

Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an…

The scalar-tensor theory of gravitation has been and still is one of the most widely discussed "alternative theories" to General Relativity (GR). Despite nearly half a century of its age, it continues to attract renewed interests of not…