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Introduction To Theoretical Kinematics
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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 Theoretical Kinematics by : O. Bottema
Download or read book Theoretical Kinematics written by O. Bottema and published by Courier Corporation. This book was released on 1990-01-01 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: Classic, comprehensive treatment covers Euclidean displacements; instantaneous kinematics; two-position, three-position, four-and-more position theory; special motions; multiparameter motions; kinematics in other geometries; and special mathematical methods.
Book Synopsis Introduction to theoretical kinematics by : J. Michael McCarthy
Download or read book Introduction to theoretical kinematics written by J. Michael McCarthy and published by . This book was released on 1990 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Kinematics written by Jens Wittenburg and published by Springer. This book was released on 2016-01-12 with total page 697 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems. In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature. 15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion. The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.
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 466 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 Fundamentals of Kinematics and Dynamics of Machines and Mechanisms by : Oleg Vinogradov
Download or read book Fundamentals of Kinematics and Dynamics of Machines and Mechanisms written by Oleg Vinogradov and published by CRC Press. This book was released on 2000-07-25 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of the kinematics and dynamics of machines lies at the very core of a mechanical engineering background. Although tremendous advances have been made in the computational and design tools now available, little has changed in the way the subject is presented, both in the classroom and in professional references. Fundamentals of Kinematics and Dynamics of Machines and Mechanisms brings the subject alive and current. The author's careful integration of Mathematica software gives readers a chance to perform symbolic analysis, to plot the results, and most importantly, to animate the motion. They get to "play" with the mechanism parameters and immediately see their effects. The downloadable resources contain Mathematica-based programs for suggested design projects. As useful as Mathematica is, however, a tool should not interfere with but enhance one's grasp of the concepts and the development of analytical skills. The author ensures this with his emphasis on the understanding and application of basic theoretical principles, unified approach to the analysis of planar mechanisms, and introduction to vibrations and rotordynamics.
Book Synopsis Theory of Applied Robotics by : Reza N. Jazar
Download or read book Theory of Applied Robotics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2010-06-14 with total page 889 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
Book Synopsis Theoretical Kinematics by : Oene Bottema
Download or read book Theoretical Kinematics written by Oene Bottema and published by . This book was released on 1979 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis The Theory of the Top. Volume I by : Felix Klein
Download or read book The Theory of the Top. Volume I written by Felix Klein and published by Springer Science & Business Media. This book was released on 2008-12-16 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: The lecture series on the Theory of the Top was originally given as a dedication to Göttingen University by Felix Klein in 1895, but has since found broader appeal. The Theory of the Top: Volume I. Introduction to the Kinematics and Kinetics of the Top is the first of a series of four self-contained English translations that provide insights into kinetic theory and kinematics.
Book Synopsis An Introduction to Theoretical Fluid Mechanics by : Stephen Childress
Download or read book An Introduction to Theoretical Fluid Mechanics written by Stephen Childress and published by American Mathematical Soc.. This book was released on 2009-10-09 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives an overview of classical topics in fluid dynamics, focusing on the kinematics and dynamics of incompressible inviscid and Newtonian viscous fluids, but also including some material on compressible flow. The topics are chosen to illustrate the mathematical methods of classical fluid dynamics. The book is intended to prepare the reader for more advanced topics of current research interest.
Book Synopsis Rigid Body Kinematics by : Joaquim A. Batlle
Download or read book Rigid Body Kinematics written by Joaquim A. Batlle and published by Cambridge University Press. This book was released on 2020-09-10 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: A rigorous analysis and description of general motion in mechanical systems, which includes over 400 figures illustrating every concept, and a large collection of useful exercises. Ideal for students studying mechanical engineering, and as a reference for graduate students and researchers.
Book Synopsis Introduction to Theoretical and Computational Fluid Dynamics by : Constantine Pozrikidis
Download or read book Introduction to Theoretical and Computational Fluid Dynamics written by Constantine Pozrikidis and published by Oxford University Press. This book was released on 2011-11-17 with total page 1274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the fundamental principles and equations governing the motion of incompressible Newtonian fluids, and simultaneously introduces numerical methods for solving a broad range of problems. Appendices provide a wealth of information that establishes the necessary mathematical and computational framework.
Book Synopsis Kinematics and Design of Planar Mechanisms by : C. H. Chiang
Download or read book Kinematics and Design of Planar Mechanisms written by C. H. Chiang and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A study of the kinematics and design of planar mechanisms. It introduces fundamental concepts of instantaneous planar kinematics; deals with dimensional synthesis, or design, of planar linkages; and describes the harmonic analysis of motion and kinetic energy in planar four-link mechanisms.
Book Synopsis Introduction to the Basic Concepts of Modern Physics by : Carlo Maria Becchi
Download or read book Introduction to the Basic Concepts of Modern Physics written by Carlo Maria Becchi and published by Springer Science & Business Media. This book was released on 2010-06-04 with total page 185 pages. Available in PDF, EPUB and Kindle. Book excerpt: These notes are designed as a text book for a course on the Modern Physics Theory for undergraduate students. The purpose is providing a rigorous and self-contained presentation of the simplest theoretical framework using elementary mathematical tools. A number of examples of relevant applications and an appropriate list of exercises and answered questions are also given.
Book Synopsis Rational Kinematics by : Jorge Angeles
Download or read book Rational Kinematics written by Jorge Angeles and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: A rational study of kinematics is a treatment of the subject based on invariants, i.e., quantities that remain essentially unchanged under a change of observer. An observer is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in Ericksen (1960) and Bowen and Wang (1976), and hence will not be included here. Only a short account of notation and definitions will be presented. Moreover, definitions and basic concepts pertaining to the kinematics of rigid bodies will be also included. Although the kinematics of rigid bodies can be regarded as a particular case of the kinematics of continua, the former deserves attention on its own merits for several reasons. One of these is that it describes locally the motions undergone by continua. Another reason is that a whole area of mechanics, known as classical dynamics, is the study of the motions undergone by particles, rigid bodies, and systems thereof.
Book Synopsis Fundamentals of Machine Theory and Mechanisms by : Antonio Simón Mata
Download or read book Fundamentals of Machine Theory and Mechanisms written by Antonio Simón Mata and published by Springer. This book was released on 2016-05-27 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book develops the basic content for an introductory course in Mechanism and Machine Theory. The text is clear and simple, supported by more than 350 figures. More than 60 solved exercises have been included to mark the translation of this book from Spanish into English. Topics treated include: dynamic analysis of machines; introduction to vibratory behavior; rotor and piston balanced; critical speed for shafts; gears and train gears; synthesis for planar mechanisms; and kinematic and dynamic analysis for robots. The chapters in relation to kinematics and dynamics for planar mechanisms can be studied with the help of WinMecc software, which allows the reader to study in an easy and intuitive way, but exhaustive at the same time. This computer program analyzes planar mechanisms of one-degree of freedom and whatever number of links. The program allows users to build a complex mechanism. They can modify any input data in real time changing values in a numeric way or using the computer mouse to manipulate links and vectors while mechanism is moving and showing the results. This powerful tool does not only show the results in a numeric way by means of tables and diagrams but also in a visual way with scalable vectors and curves.
Book Synopsis Machines and Mechanisms by : David H. Myszka
Download or read book Machines and Mechanisms written by David H. Myszka and published by Prentice Hall. This book was released on 2012 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: This up-to-date introduction to kinematic analysis ensures relevance by using actual machines and mechanisms throughout. MACHINES & MECHANISMS, 4/e provides the techniques necessary to study the motion of machines while emphasizing the application of kinematic theories to real-world problems. State-of-the-art techniques and tools are utilized, and analytical techniques are presented without complex mathematics. Reflecting instructor and student feedback, this Fourth Edition's extensive improvements include: a new section introducing special-purpose mechanisms; expanded descriptions of kinematic properties; clearer identification of vector quantities through standard boldface notation; new timing charts; analytical synthesis methods; and more. All end-of-chapter problems have been reviewed, and many new problems have been added.
