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Geometric Design Of Linkages
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Book Synopsis Geometric Design of Linkages by : J. Michael McCarthy
Download or read book Geometric Design of Linkages written by J. Michael McCarthy and published by Springer Science & Business Media. This book was released on 2010-11-11 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a work piece, or end-effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end-effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end- effector. The principles presented in this book form the foundation for a design theory for these devices. The emphasis, however, is on articulated systems with fewer degrees of freedom than that of the typical robotic system, and therefore, less complexity. This book will be useful to mathematics, engineering and computer science departments teaching courses on mathematical modeling of robotics and other articulated mechanical systems. This new edition includes research results of the past decade on the synthesis of multi loop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces numerical homotopy and the linear product decomposition of polynomial systems. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are use throughout to demonstrate the theory.
Book Synopsis Geometric Design of Linkages by : J. Michael McCarthy
Download or read book Geometric Design of Linkages written by J. Michael McCarthy and published by . This book was released on 2014-01-15 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Geometric Folding Algorithms by : Erik D. Demaine
Download or read book Geometric Folding Algorithms written by Erik D. Demaine and published by Cambridge University Press. This book was released on 2007-07-16 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Did you know that any straight-line drawing on paper can be folded so that the complete drawing can be cut out with one straight scissors cut? That there is a planar linkage that can trace out any algebraic curve, or even 'sign your name'? Or that a 'Latin cross' unfolding of a cube can be refolded to 23 different convex polyhedra? Over the past decade, there has been a surge of interest in such problems, with applications ranging from robotics to protein folding. With an emphasis on algorithmic or computational aspects, this treatment gives hundreds of results and over 60 unsolved 'open problems' to inspire further research. The authors cover one-dimensional (1D) objects (linkages), 2D objects (paper), and 3D objects (polyhedra). Aimed at advanced undergraduate and graduate students in mathematics or computer science, this lavishly illustrated book will fascinate a broad audience, from school students to researchers.
Book Synopsis 21st Century Kinematics by : J. Michael McCarthy
Download or read book 21st Century Kinematics written by J. Michael McCarthy and published by Springer Science & Business Media. This book was released on 2012-08-04 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: 21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.
Book Synopsis Kinematic Differential Geometry and Saddle Synthesis of Linkages by : Delun Wang
Download or read book Kinematic Differential Geometry and Saddle Synthesis of Linkages written by Delun Wang and published by John Wiley & Sons. This book was released on 2015-05-08 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: With a pioneering methodology, the book covers the fundamental aspects of kinematic analysis and synthesis of linkage, and provides a theoretical foundation for engineers and researchers in mechanisms design. • The first book to propose a complete curvature theory for planar, spherical and spatial motion • Treatment of the synthesis of linkages with a novel approach • Well-structured format with chapters introducing clearly distinguishable concepts following in a logical sequence dealing with planar, spherical and spatial motion • Presents a pioneering methodology by a recognized expert in the field and brought up to date with the latest research and findings • Fundamental theory and application examples are supplied fully illustrated throughout
Book Synopsis Introduction to Mechanism Design by : Eric Constans
Download or read book Introduction to Mechanism Design written by Eric Constans and published by CRC Press. This book was released on 2018-07-20 with total page 760 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mechanism Design: with Computer Applications provides an updated approach to undergraduate Mechanism Design and Kinematics courses/modules for engineering students. The use of web-based simulations, solid modeling, and software such as MATLAB and Excel is employed to link the design process with the latest software tools for the design and analysis of mechanisms and machines. While a mechanical engineer might brainstorm with a pencil and sketch pad, the final result is developed and communicated through CAD and computational visualizations. This modern approach to mechanical design processes has not been fully integrated in most books, as it is in this new text.
Book Synopsis Design of Special Planar Linkages by : Jingshan Zhao
Download or read book Design of Special Planar Linkages written by Jingshan Zhao and published by Springer Science & Business Media. This book was released on 2013-08-31 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering. Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages. This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation. Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.
Book Synopsis Pop-Up Geometry by : Joseph O'Rourke
Download or read book Pop-Up Geometry written by Joseph O'Rourke and published by Cambridge University Press. This book was released on 2022-03-24 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Explores the beautifully intricate dynamics of pop-up cards using high school mathematics, making tangible what is often dry and abstract.
Book Synopsis Advances in Mechanism and Machine Science by : Tadeusz Uhl
Download or read book Advances in Mechanism and Machine Science written by Tadeusz Uhl and published by Springer. This book was released on 2019-06-13 with total page 4248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world’s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.
Book Synopsis An Introduction to Theoretical Kinematics by : J. M. McCarthy
Download or read book An Introduction to Theoretical Kinematics written by J. M. McCarthy and published by MIT Press (MA). This book was released on 1990 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature. The author employs a unique format, highlighting the similarity of the mathematical results for planar, spherical, and spatial cases by studying them all in each chapter rather than as separate topics. For the first time, he applies to kinematic theory two tools of modern mathematics - the theory of multivectors and the theory of Clifford algebras - that serve to clarify the seemingly arbitrary nature of the construction of screws and dual quaternions. The first two chapters formulate the matrices that represent planar, spherical, and spatial displacements and examine a continuous set of displacements which define a continuous movement of a body, introducing the "tangent operator." Chapter 3 focuses on the tangent operators of spatial motion as they are reassembled into six-dimensional vectors or screws, placing these in the modern setting of multivector algebra. Clifford algebras are used in chapter 4 to unify the construction of various hypercomplex "quaternion" numbers. Chapter 5 presents the elementary formulas that compute the degrees of freedom or mobility, of kinematic chains, and chapter 6 defines the structure equations of these chains in terms of matrix transformations. The last chapter computes the quaternion form of the structure equations for ten specific mechanisms. These equations define parameterized manifolds in the Clifford algebras, or "image spaces," associated with planar, spherical, and spatial displacements. McCarthy reveals a particularly interesting result by showing that these parameters can be mathematically manipulated to yield hyperboloids or intersections of hyperboloids.
Book Synopsis Handbook of Geometric Constraint Systems Principles by : Meera Sitharam
Download or read book Handbook of Geometric Constraint Systems Principles written by Meera Sitharam and published by CRC Press. This book was released on 2018-07-20 with total page 605 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Geometric Constraint Systems Principles is an entry point to the currently used principal mathematical and computational tools and techniques of the geometric constraint system (GCS). It functions as a single source containing the core principles and results, accessible to both beginners and experts. The handbook provides a guide for students learning basic concepts, as well as experts looking to pinpoint specific results or approaches in the broad landscape. As such, the editors created this handbook to serve as a useful tool for navigating the varied concepts, approaches and results found in GCS research. Key Features: A comprehensive reference handbook authored by top researchers Includes fundamentals and techniques from multiple perspectives that span several research communities Provides recent results and a graded program of open problems and conjectures Can be used for senior undergraduate or graduate topics course introduction to the area Detailed list of figures and tables About the Editors: Meera Sitharam is currently an Associate Professor at the University of Florida’s Department of Computer & Information Science and Engineering. She received her Ph.D. at the University of Wisconsin, Madison. Audrey St. John is an Associate Professor of Computer Science at Mount Holyoke College, who received her Ph. D. from UMass Amherst. Jessica Sidman is a Professor of Mathematics on the John S. Kennedy Foundation at Mount Holyoke College. She received her Ph.D. from the University of Michigan.
Book Synopsis Solving Geometric Constraint Systems by : Glenn A. Kramer
Download or read book Solving Geometric Constraint Systems written by Glenn A. Kramer and published by MIT Press. This book was released on 1992 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Solving Geometric Constraints records and explains the formal basis for graphical analysis techniques that have been used for decades in engineering disciplines. It describes a novel computer implementation of a 3D graphical analysis method - degrees of freedom analysis - for solving geometric constraint problems of the type encountered in the kinematic analysis of mechanical linkages, providing the best computational bounds yet achieved for this class of problems. The technique allows for the design of algorithms that provide signification speed increases and will foster the development of interactive software tools for the simulation, optimization, and design of complex mechanical devices as well as provide leverage in other geometric domains.
Book Synopsis Kinematic Differential Geometry and Saddle Synthesis of Linkages by : Delun Wang
Download or read book Kinematic Differential Geometry and Saddle Synthesis of Linkages written by Delun Wang and published by John Wiley & Sons. This book was released on 2015-07-27 with total page 496 pages. Available in PDF, EPUB and Kindle. Book excerpt: With a pioneering methodology, the book covers the fundamental aspects of kinematic analysis and synthesis of linkage, and provides a theoretical foundation for engineers and researchers in mechanisms design. • The first book to propose a complete curvature theory for planar, spherical and spatial motion • Treatment of the synthesis of linkages with a novel approach • Well-structured format with chapters introducing clearly distinguishable concepts following in a logical sequence dealing with planar, spherical and spatial motion • Presents a pioneering methodology by a recognized expert in the field and brought up to date with the latest research and findings • Fundamental theory and application examples are supplied fully illustrated throughout
Book Synopsis Kinematic Synthesis of Linkages by : Richard Scheunemann Hartenberg
Download or read book Kinematic Synthesis of Linkages written by Richard Scheunemann Hartenberg and published by . This book was released on 1964 with total page 462 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Kinematics and Dynamics of Mechanical Systems by : Kevin Russell
Download or read book Kinematics and Dynamics of Mechanical Systems written by Kevin Russell and published by CRC Press. This book was released on 2022-12-16 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: 1) Presents fundamental concepts including mechanism kinematics, synthesis, statics and dynamics 2) Focuses on analytical and computer-based quantitative methods 3) Provides a guide to MATLAB and Simscape Multibody suitable for those with no experience 4) Provides an extensive library of MATLAB and Simscape Multibody files to directly apply the equations and methods presented in each chapter
Book Synopsis Kinematics and Dynamics of Mechanical Systems, Second Edition by : Kevin Russell
Download or read book Kinematics and Dynamics of Mechanical Systems, Second Edition written by Kevin Russell and published by CRC Press. This book was released on 2018-09-21 with total page 516 pages. Available in PDF, EPUB and Kindle. Book excerpt: Kinematics and Dynamics of Mechanical Systems: Implementation in MATLAB® and SimMechanics®, Second Edition combines the fundamentals of mechanism kinematics, synthesis, statics and dynamics with real-world applications, and offers step-by-step instruction on the kinematic, static, and dynamic analyses and synthesis of equation systems. Written for students with no working knowledge of MATLAB and SimMechanics, the text provides understanding of static and dynamic mechanism analysis, and moves beyond conventional kinematic concepts—factoring in adaptive programming, 2D and 3D visualization, and simulation, and equips readers with the ability to analyze and design mechanical systems. This latest edition presents all of the breadth and depth as the past edition, but with updated theoretical content and much improved integration of MATLAB and SimMechanics in the text examples. Features: Fully integrates MATLAB and SimMechanics with treatment of kinematics and machine dynamics Revised to modify all 300 end-of-chapter problems, with new solutions available for instructors Formulated static & dynamic load equations, and MATLAB files, to include gravitational acceleration Adds coverage of gear tooth forces and torque equations for straight bevel gears Links text examples directly with a library of MATLAB and SimMechanics files for all users
Book Synopsis The Engineering Handbook by : Richard C. Dorf
Download or read book The Engineering Handbook written by Richard C. Dorf and published by CRC Press. This book was released on 2018-10-03 with total page 3080 pages. Available in PDF, EPUB and Kindle. Book excerpt: First published in 1995, The Engineering Handbook quickly became the definitive engineering reference. Although it remains a bestseller, the many advances realized in traditional engineering fields along with the emergence and rapid growth of fields such as biomedical engineering, computer engineering, and nanotechnology mean that the time has come to bring this standard-setting reference up to date. New in the Second Edition 19 completely new chapters addressing important topics in bioinstrumentation, control systems, nanotechnology, image and signal processing, electronics, environmental systems, structural systems 131 chapters fully revised and updated Expanded lists of engineering associations and societies The Engineering Handbook, Second Edition is designed to enlighten experts in areas outside their own specialties, to refresh the knowledge of mature practitioners, and to educate engineering novices. Whether you work in industry, government, or academia, this is simply the best, most useful engineering reference you can have in your personal, office, or institutional library.
