Articles liés à Geometric Design of Linkages
Synopsis
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.
Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.
À propos de l?auteur
J. Michael McCarthy is a Professor in the Department of Mechanical Engineering at University of California, Irvine.
Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.
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Geometric Design of Linkages
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Springer Verlag, 2011
ISBN 10 : 1441978917
ISBN 13 : 9781441978912
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Geometric Design of Linkages
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Gebunden. Etat : New. Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. -Only book that brings together the kinematic synthesis theory of planar, spherical and spatial kinematic chains-This mathematical theory forms the foundation for numerical methods for dimensional synthesis of the articulated skeletons of modern m. N° de réf. du vendeur 4176458
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Geometric Design of Linkages
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SPRINGER NATURE Dez 2010, 2010
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ISBN 13 : 9781441978912
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Buch. Etat : Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 448 pp. Englisch. N° de réf. du vendeur 9781441978912
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Geometric Design of Linkages (Interdisciplinary Applied Mathematics, 11)
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Geometric Design of Linkages
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Geometric Design of Linkages
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Springer New York, 2010
ISBN 10 : 1441978917
ISBN 13 : 9781441978912
Neuf
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Buch. Etat : Neu. Druck auf Anfrage Neuware - Printed after ordering - 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. N° de réf. du vendeur 9781441978912
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Geometric Design of Linkages (Interdisciplinary Applied Mathematics, 11)
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Geometric Design of Linkages
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Springer, 2010
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ISBN 13 : 9781441978912
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Geometric Design of Linkages
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Geometric Design of Linkages (Interdisciplinary Applied Mathematics)
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Springer, 2010
ISBN 10 : 1441978917
ISBN 13 : 9781441978912
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