Geometric Design of Linkages: v.11 - Rilegato

McCarthy, J. M.

Rilegato

ISBN 10: 0387989838 ISBN 13: 9780387989839

Casa editrice: Springer Verlag, 2000

Riassunto

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 workpiece, 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 modelling of robotics and other articulated mechanical systems.

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Contenuti

Introduction.- Analysis of Planar Linkages.- Graphical Synthesis in the Plane.- Planar Kinematics.- Algebraic Synthesis of Planar Chains.- Analysis of Spherical Linkages.- Spherical Kinematics.- Algebraic Synthesis of Spherical Chains.- Analysis of Spatial Chains.- Spatial Kinematics.- Algebraic Synthesis of Spatial Chains.- Platform Manipulators.- Graphical Constructions.- Solving Constraint Equations.- Spherical Trigonometry.- Operations with Dual Numbers.- Kinematics Equations.- References.- Index.

Product Description

Book by McCarthy J Michael

Dettagli dell?edizione

• Editore: Springer Verlag
• Data di pubblicazione: 2000
• Lingua: Inglese
• ISBN 10: 0387989838
• ISBN 13: 9780387989839
• Rilegatura: Copertina rigida
• Numero edizione: 1
• Numero di pagine: 320
• Contatto del produttore: Springer Nature Customer Service Center GmbH; ProductSafety@springernature.com