Lecture

Kinematics of Fluids: Rigid Body Movement

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In course

ME-271: Fluid flow

Dans ce cours introductif à la physique des fluides, l'étudiant commence par apprendre, au moyen de bilans de masse et de contraintes, à décrire et à prédire les écoulements types. Ces méthodes sont appliquées à des écoulements complexes, tels que les écou ...

Description

This lecture covers the kinematics of fluids, focusing on the rigid body movement. Topics include Eulerian and Lagrangian methods, particle derivative and acceleration, as well as streamlines, trajectories, and transmission lines. The instructor explains the concepts using examples and equations, highlighting the differences between Eulerian and Lagrangian approaches. The lecture also delves into the acceleration of fluids in both vertical and horizontal directions, emphasizing the importance of understanding fluid dynamics in various scenarios.

Instructor

Karen Ann J Mulleners

Expertise experimental fluid dynamics, unsteady aerodynamics, vortex dynamics, flow separation Karen Mulleners is an associate professor in the institute of mechanical engineering in the school of engineering at EPFL. She is the head of the unsteady flow diagnostics laboratory (UNFoLD). She is an experimental fluid dynamicist who focuses on unfolding the origin and development of unsteady flow separation and vortex formation. Karen studied physics in Belgium (Hasselt University, previously Limburgs Universi

Official source

Ontological neighbourhood

Mechanical engineering

Robotics: Topics in robotics

Related concepts (30)

Kinematics

Kinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.

Kinematic chain

In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.

Inverse kinematics

In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.

Robot kinematics

In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.

Forward kinematics

In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.

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