Geometric Design of Linkages - Couverture rigide

McCarthy, J-Michael

Couverture rigide

ISBN 10 : 0387989838 ISBN 13 : 9780387989839

Editeur : Springer-Verlag New York Inc., 2000

Synopsis

This book presents the mathematical theory of design for articulated systems called linkages. Robot manipulators, walking machines, and mechanical hands are examples of these systems, all of which rely on simple mechanical constraints to provide a complex workspace for an end-effector. The emphasis of this text is on linkage systems with fewer degrees of freedom than that of a typical robot arm and, therefore, more constraints. The focus is on sizing these constraints to guide the end-effector through a set of task positions. Formulated in this way, the design problem is purely geometric in character. The theory is developed for planar linkages before moving to devices that constrain spatial rotation and general spatial displacement. This allows intuition developed from plane geometry to provide insight to the geometry of points and lines in space.

A propos du livre

Présentation de l'éditeur

Now in a fresh edition that includes recent results on the synthesis of multiloop planar and spherical linkages and the use of homotopy methods and Clifford algebras in synthesizing spatial serial chains, this volume is a foundation for linkage design theory.

Détails de l'édition

• Éditeur: Springer-Verlag New York Inc.
• Date d'édition: 2000
• Langue: anglais
• ISBN 10: 0387989838
• ISBN 13: 9780387989839
• Reliure: Relié
• Nombre de pages: 341
• Coordonnées du fabricant: non disponible