Geometric Design Of Linkages

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Geometric Design of Linkages

Author : J. Michael McCarthy
Publisher : Springer Science & Business Media
ISBN 13 : 1441978925
Total Pages : 466 pages
Book Rating : 4.4/5 (419 download)

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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 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.

Geometric Design of Linkages

Author : J. Michael McCarthy
Publisher :
ISBN 13 : 9781475774238
Total Pages : 344 pages
Book Rating : 4.7/5 (742 download)

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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 . This book was released on 2014-01-15 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Geometric Design of Mechanical Linkages for Contact Specifications

Author : Nina Patarinsky Robson
Publisher :
ISBN 13 : 9780549803539
Total Pages : 286 pages
Book Rating : 4.8/5 (35 download)

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Book Synopsis Geometric Design of Mechanical Linkages for Contact Specifications by : Nina Patarinsky Robson

Download or read book Geometric Design of Mechanical Linkages for Contact Specifications written by Nina Patarinsky Robson and published by . This book was released on 2008 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: The recovery strategy, presented in this research is also a new concept. The recognition that it is possible to reconfigure a crippled robotic system to achieve mission critical tasks can guide the development of robust task planning algorithms and influence future robot design.

Geometric Folding Algorithms

Author : Erik D. Demaine
Publisher : Cambridge University Press
ISBN 13 : 1107394090
Total Pages : 388 pages
Book Rating : 4.1/5 (73 download)

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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 388 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.

Solving Geometric Constraint Systems

Author : Glenn A. Kramer
Publisher : MIT Press
ISBN 13 : 9780262111645
Total Pages : 314 pages
Book Rating : 4.1/5 (116 download)

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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.

Introduction to Mechanism Design

Author : Eric Constans
Publisher : CRC Press
ISBN 13 : 1351727621
Total Pages : 760 pages
Book Rating : 4.3/5 (517 download)

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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.

Pop-Up Geometry

Author : Joseph O'Rourke
Publisher : Cambridge University Press
ISBN 13 : 1009098403
Total Pages : 143 pages
Book Rating : 4.0/5 (9 download)

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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.

Kinematic Differential Geometry and Saddle Synthesis of Linkages

Author : Delun Wang
Publisher : John Wiley & Sons
ISBN 13 : 1118255046
Total Pages : 496 pages
Book Rating : 4.1/5 (182 download)

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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

An Introduction to Theoretical Kinematics

Author : J. M. McCarthy
Publisher : MIT Press (MA)
ISBN 13 : 9780262132527
Total Pages : 130 pages
Book Rating : 4.1/5 (325 download)

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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.

Advances in Mechanism and Machine Science

Author : Tadeusz Uhl
Publisher : Springer
ISBN 13 : 3030201317
Total Pages : 4248 pages
Book Rating : 4.0/5 (32 download)

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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.

Kinematic Synthesis of Linkages

Author : Richard Scheunemann Hartenberg
Publisher :
ISBN 13 :
Total Pages : 462 pages
Book Rating : 4.3/5 (91 download)

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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:

Design of Special Planar Linkages

Author : Jingshan Zhao
Publisher : Springer Science & Business Media
ISBN 13 : 364238448X
Total Pages : 302 pages
Book Rating : 4.6/5 (423 download)

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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.

Handbook of Geometric Constraint Systems Principles

Author : Meera Sitharam
Publisher : CRC Press
ISBN 13 : 1498738923
Total Pages : 605 pages
Book Rating : 4.4/5 (987 download)

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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.

How to Draw a Straight Line

Author : Alfred Bray Kempe
Publisher :
ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.A/5 ( download)

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Book Synopsis How to Draw a Straight Line by : Alfred Bray Kempe

Download or read book How to Draw a Straight Line written by Alfred Bray Kempe and published by . This book was released on 1877 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Handbook of Machining and Metalworking Calculations

Author : Ronald A. Walsh
Publisher : McGraw Hill Professional
ISBN 13 : 0071414851
Total Pages : 379 pages
Book Rating : 4.0/5 (714 download)

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Book Synopsis Handbook of Machining and Metalworking Calculations by : Ronald A. Walsh

Download or read book Handbook of Machining and Metalworking Calculations written by Ronald A. Walsh and published by McGraw Hill Professional. This book was released on 2001-01-12 with total page 379 pages. Available in PDF, EPUB and Kindle. Book excerpt: ESSENTIAL MACHINING AND METALWORKING CALCULATIONS IN THE PALM OF YOUR HAND Solve virtually any problem involving metalworking and machining tools and applications -- quickly and easily with the help of one convenient hands-on resource ready-made for your benchtop or workstation . It’s Ronald A. Walsh’s Handbook of Machining and Metalworking Calculations, and it puts design, operations, repair, and maintenance answers right where you want them—close at hand. You get: Basic to advanced calculation procedures Latest ANSI and ISO specifications Examples of solved problems Calculations for gears, sprockets, springs, screws, threads, ratchets, cams, linkages, notches, flanges, holes, broaching, boring, reaming, turning, pitch, torsion, tension, and more Fit classes and their calculations Easy-to-use tables, charts, listings, and formulas

Atlas of the Four-Bar Linkage

Author : Philip Todd
Publisher : Saltire Software, Incorporated
ISBN 13 : 9781882564293
Total Pages : 534 pages
Book Rating : 4.5/5 (642 download)

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Book Synopsis Atlas of the Four-Bar Linkage by : Philip Todd

Download or read book Atlas of the Four-Bar Linkage written by Philip Todd and published by Saltire Software, Incorporated. This book was released on 2014-08-08 with total page 534 pages. Available in PDF, EPUB and Kindle. Book excerpt: For many years, the coupler-curve atlas by Hrones and Nelson has been a valuable aid for designing four-bar linkages. Today, computers can quickly and accurately analyze displacement, velocity, and acceleration of the coupler point which traces the curve. However, even in the age of computers, an atlas is unsurpassed as a way to see relationships among these curves and choose the best for a particular design by thumbing through paper copies rather than looking at them individually or even in small groups on a computer screen. This atlas of four-bar linkage coupler-curves facilitates quick visual comparisons. The atlas aids conceptual design by allowing easy perusal of a large number of curves produced by the following linkage categories: Crank Rocker, Double Crank, Crank Slider and Inverted Crank Slider. When an acceptable design is found, the curve can be analyzed and the linkage parameters varied to improve performance by using the appropriate computer software.

The Geometric Design of Spherical Mechanical Linkages with Differential Task Specifications

Author : Phani Neehar Kapila Bala
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (819 download)

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Book Synopsis The Geometric Design of Spherical Mechanical Linkages with Differential Task Specifications by : Phani Neehar Kapila Bala

Download or read book The Geometric Design of Spherical Mechanical Linkages with Differential Task Specifications written by Phani Neehar Kapila Bala and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The thesis focuses on the development of an experimental set up for a recently developed failure recovery technique of spatial robot manipulators. Assuming a general configuration of the spatial robot arm, a task is specified. This task contains constraints on position, velocity and acceleration to be satisfied. These constraints are derived from contact and curvature specifications. The technique synthesizes the serial chain and tests if the task can be satisfied in case of a joint failure. An experimental set up was developed in order to validate the failure recovery technique. It includes a robot arm mounted on a movable platform. The arm and platform are controlled by NI sbRIO board and are programmed in LabVIEW. The experimental results of the failure recovery technique were obtained for the case of Elbow failure in robot manipulators. The thesis considers two applications of the synthesis of spherical five--degree-of-freedom serial chains: Power assist for human therapeutic movement and Synthesis of Parallel Mechanical Linkages. A spherical TS chain has been synthesized for these two applications using the Mathematica software.