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In physics, a rigid body, also known as a rigid object, [2] is a solid body in which deformation is zero or negligible. The distance between any two given points on a rigid body remains constant in time regardless of external forces or moments exerted on it. A rigid body is usually considered as a continuous distribution of mass.
In the physical science of dynamics, rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces.The assumption that the bodies are rigid (i.e. they do not deform under the action of applied forces) simplifies analysis, by reducing the parameters that describe the configuration of the system to the translation and rotation of reference ...
Rigid body, in physics, a simplification of the concept of an object to allow for modelling; Rigid transformation, in mathematics, a rigid transformation preserves distances between every pair of points; Rigidity (chemistry), the tendency of a substance to retain/maintain their shape when subjected to outside force
For a rigid body, the boundary of an object may change over time by continuous translation and rotation. For a deformable body the boundary may also be continuously deformed over time in other ways. An object has an identity. In general two objects with identical properties, other than position at an instance in time, may be distinguished as ...
The mobility formula counts the number of parameters that define the configuration of a set of rigid bodies that are constrained by joints connecting these bodies. [3] [4] Consider a system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame. In order to count the degrees of freedom of this system ...
Internal forces between the particles that make up a body do not contribute to changing the momentum of the body as there is an equal and opposite force resulting in no net effect. [3] The linear momentum of a rigid body is the product of the mass of the body and the velocity of its center of mass v cm. [1] [4] [5]
A body is usually considered to be a rigid or flexible part of a mechanical system (not to be confused with the human body). An example of a body is the arm of a robot, a wheel or axle in a car or the human forearm. A link is the connection of two or more bodies, or a body with the ground.
In order to define the twist of a rigid body, we must consider its movement defined by the parameterized set of spatial displacements, D(t) = ([A(t)], d(t)), where [A] is a rotation matrix and d is a translation vector. This causes a point p that is fixed in moving body coordinates to trace a curve P(t) in the fixed frame given by