Gim Song Soh: Geometric Design of Linkages

Cover: 9781461427674 | Geometric Design of Linkages | Gim Song Soh (u. a.) | Taschenbuch

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Sprache: Englisch

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Beschreibung

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.

Über den Autor

J. Michael McCarthy is a Professor in the Department of Mechanical Engineering at University of California, Irvine.

Zusammenfassung

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 machine, manipulator and robotic systems.

Includes supplementary material: [...]

Inhaltsverzeichnis

Introduction.- Analysis of Planar Linkages.- Graphical Synthesis in the Plane.- Planar Kinematics.- Algebraic Synthesis of Planar.- Multiloop Planar Linkages.- Analysis of Spherical Linkages.- Spherical Kinematics.- Algebraic Synthesis of Spherical Chains.- Multiloop Spherical.- Analysis of Spatial Chains.- Spatial Kinematics.- Algebraic Synthesis of Spatial.- Synthesis of Spatial Chains with Reachable Surface.- Clifford Algebra Synthesis of Spatial Chains.- Platform Manipulators.- References.

Details

Erscheinungsjahr:	2012
Fachbereich:	Allgemeines
Genre:	Importe , Mathematik
Rubrik:	Naturwissenschaften & Technik
Medium:	Taschenbuch
Inhalt:	xxviii 448 S.
ISBN-13:	9781461427674
ISBN-10:	1461427673
Sprache:	Englisch
Einband:	Kartoniert / Broschiert
Autor:	Soh, Gim Song McCarthy, J. Michael
Auflage:	Second Edition 2011
Hersteller:	Springer US Springer New York Springer US, New York, N.Y.
Verantwortliche Person für die EU:	Springer Verlag GmbH, Tiergartenstr. 17, D-69121 Heidelberg, juergen.hartmann@springer.com
Maße:	235 x 155 x 26 mm
Von/Mit:	Gim Song Soh (u. a.)
Erscheinungsdatum:	27.12.2012
Gewicht:	0,715 kg

Artikel-ID: 106094531