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Geometric design of linkages
~
McCarthy, J. M.
Geometric design of linkages
紀錄類型:
書目-電子資源 : 單行本
正題名/作者:
Geometric design of linkages/ J. Michael McCarthy.
作者:
McCarthy, J. M.
出版者:
New York :Springer,�000.
面頁冊數:
1 online resource (xxi, 320 pages) :illustrations.
標題:
Links and link-motion. -
電子資源:
Click here for online access to this book (查閱全文) (EBSCO eBook)
ISBN:
0387227350 (electronic bk.)
ISBN:
9780387227351 (electronic bk.)
Geometric design of linkages
McCarthy, J. M.
Geometric design of linkages
[electronic resource] /J. Michael McCarthy. - New York :Springer,�000. - 1 online resource (xxi, 320 pages) :illustrations. - Interdisciplinary applied mathematics ;v. 11. - Interdisciplinary applied mathematics ;v. 11..
Includes bibliographical references and index.
Cover -- Preface -- Table of Contents -- List of Figures -- 1. Introduction -- 2. Analysis of Planar Linkages -- 3. Graphical Synthesis in the Plane -- 4. Planar Kinematics -- 5. Algebraic Synthesis of Planar Chains -- 6. Analysis of Spherical Linkages -- 7. Spherical Kinematics -- 8. Algebraic Synthesis of Spherical Chains -- 9. Analysis of Spatial Chains -- 10. Spatial Kinematics -- 11. Algebraic Synthesis of Spatial Chains -- 12. Platform Manipulators -- Appendix A -- Solving Constraint Equations -- Appendix B -- Graphical Constructions -- Appendix C -- Spherical Trigonometry -- Appendix D -- Operations with Dual Numbers -- Appendix E -- Kinematics Equations -- References.
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.
ISBN: 0387227350 (electronic bk.)Subjects--Topical Terms:
1000064732
Links and link-motion.
Index Terms--Genre/Form:
172687
Electronic books.
LC Class. No.: TJ182 / .M37 2000eb
Dewey Class. No.: 621.8/15
Geometric design of linkages
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Cover -- Preface -- Table of Contents -- List of Figures -- 1. Introduction -- 2. Analysis of Planar Linkages -- 3. Graphical Synthesis in the Plane -- 4. Planar Kinematics -- 5. Algebraic Synthesis of Planar Chains -- 6. Analysis of Spherical Linkages -- 7. Spherical Kinematics -- 8. Algebraic Synthesis of Spherical Chains -- 9. Analysis of Spatial Chains -- 10. Spatial Kinematics -- 11. Algebraic Synthesis of Spatial Chains -- 12. Platform Manipulators -- Appendix A -- Solving Constraint Equations -- Appendix B -- Graphical Constructions -- Appendix C -- Spherical Trigonometry -- Appendix D -- Operations with Dual Numbers -- Appendix E -- Kinematics Equations -- References.
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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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