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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 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 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 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 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 Introduction to Mathematical Fluid Dynamics by : Richard E. Meyer
Download or read book Introduction to Mathematical Fluid Dynamics written by Richard E. Meyer and published by Courier Corporation. This book was released on 2012-03-08 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Geared toward advanced undergraduate and graduate students in applied mathematics, engineering, and the physical sciences, this introductory text covers kinematics, momentum principle, Newtonian fluid, compressibility, and other subjects. 1971 edition.
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 A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Book Synopsis Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by : Jingshan Zhao
Download or read book Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms written by Jingshan Zhao and published by Academic Press. This book was released on 2018-10-30 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
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 Introduction to Theoretical Aerodynamics and Hydrodynamics by : William Rees Sears
Download or read book Introduction to Theoretical Aerodynamics and Hydrodynamics written by William Rees Sears and published by Amer Inst of Aeronautics &. This book was released on 2011 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formally published for the first time, Professor William R. Sears classic work, "Introduction to Theoretical Aerodynamics and Hydrodynamics, "reflects many years of continual evolution as a course study guide at the Graduate School of Aeronautical Engineering at Cornell University, with updates prepared by his former students to enhance ease of use by todays students. Instructors will find this a superb textbook for a first course in ideal aerodynamics and/or hydrodynamics. Because Sears was a master of connecting mathematical concepts with physical fluid dynamic quantities, readers will find fundamental concepts directly connected to practical applications in the numerous step-by-step examples found throughout the book. SPECIAL FEATURES
Book Synopsis Introduction To Robotics: Mechanics And Control, 3/E by : John J. Craig
Download or read book Introduction To Robotics: Mechanics And Control, 3/E written by John J. Craig and published by Pearson Education India. This book was released on 2009 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Introduction To Classical Mechanics by : John Dirk Walecka
Download or read book Introduction To Classical Mechanics written by John Dirk Walecka and published by World Scientific. This book was released on 2020-02-26 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook aims to provide a clear and concise set of lectures that take one from the introduction and application of Newton's laws up to Hamilton's principle of stationary action and the lagrangian mechanics of continuous systems. An extensive set of accessible problems enhances and extends the coverage.It serves as a prequel to the author's recently published book entitled Introduction to Electricity and Magnetism based on an introductory course taught sometime ago at Stanford with over 400 students enrolled. Both lectures assume a good, concurrent, course in calculus and familiarity with basic concepts in physics; the development is otherwise self-contained.A good introduction to the subject allows one to approach the many more intermediate and advanced texts with better understanding and a deeper sense of appreciation that both students and teachers alike can share.
Author :Javier Garcia de Jalon Publisher :Springer Science & Business Media ISBN 13 :1461226007 Total Pages :456 pages Book Rating :4.4/5 (612 download)
Book Synopsis Kinematic and Dynamic Simulation of Multibody Systems by : Javier Garcia de Jalon
Download or read book Kinematic and Dynamic Simulation of Multibody Systems written by Javier Garcia de Jalon and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.
