An Introduction to Theoretical Kinematics PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download An Introduction to Theoretical Kinematics PDF full book. Access full book title An Introduction to Theoretical Kinematics by J. M. McCarthy. Download full books in PDF and EPUB format.
Author: J. M. McCarthy
Publisher: MIT Press (MA)
ISBN: 9780262132527
Category : Computers
Languages : en
Pages : 130
Get Book
Book Description
Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature. The author employs a unique format, highlighting the similarity of the mathematical results for planar, spherical, and spatial cases by studying them all in each chapter rather than as separate topics. For the first time, he applies to kinematic theory two tools of modern mathematics - the theory of multivectors and the theory of Clifford algebras - that serve to clarify the seemingly arbitrary nature of the construction of screws and dual quaternions. The first two chapters formulate the matrices that represent planar, spherical, and spatial displacements and examine a continuous set of displacements which define a continuous movement of a body, introducing the "tangent operator." Chapter 3 focuses on the tangent operators of spatial motion as they are reassembled into six-dimensional vectors or screws, placing these in the modern setting of multivector algebra. Clifford algebras are used in chapter 4 to unify the construction of various hypercomplex "quaternion" numbers. Chapter 5 presents the elementary formulas that compute the degrees of freedom or mobility, of kinematic chains, and chapter 6 defines the structure equations of these chains in terms of matrix transformations. The last chapter computes the quaternion form of the structure equations for ten specific mechanisms. These equations define parameterized manifolds in the Clifford algebras, or "image spaces," associated with planar, spherical, and spatial displacements. McCarthy reveals a particularly interesting result by showing that these parameters can be mathematically manipulated to yield hyperboloids or intersections of hyperboloids.
Author: J. M. McCarthy
Publisher: MIT Press (MA)
ISBN: 9780262132527
Category : Computers
Languages : en
Pages : 130
Get Book
Book Description
Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature. The author employs a unique format, highlighting the similarity of the mathematical results for planar, spherical, and spatial cases by studying them all in each chapter rather than as separate topics. For the first time, he applies to kinematic theory two tools of modern mathematics - the theory of multivectors and the theory of Clifford algebras - that serve to clarify the seemingly arbitrary nature of the construction of screws and dual quaternions. The first two chapters formulate the matrices that represent planar, spherical, and spatial displacements and examine a continuous set of displacements which define a continuous movement of a body, introducing the "tangent operator." Chapter 3 focuses on the tangent operators of spatial motion as they are reassembled into six-dimensional vectors or screws, placing these in the modern setting of multivector algebra. Clifford algebras are used in chapter 4 to unify the construction of various hypercomplex "quaternion" numbers. Chapter 5 presents the elementary formulas that compute the degrees of freedom or mobility, of kinematic chains, and chapter 6 defines the structure equations of these chains in terms of matrix transformations. The last chapter computes the quaternion form of the structure equations for ten specific mechanisms. These equations define parameterized manifolds in the Clifford algebras, or "image spaces," associated with planar, spherical, and spatial displacements. McCarthy reveals a particularly interesting result by showing that these parameters can be mathematically manipulated to yield hyperboloids or intersections of hyperboloids.
Author: O. Bottema
Publisher: Courier Corporation
ISBN: 0486663469
Category : Science
Languages : en
Pages : 594
Get Book
Book Description
Classic, comprehensive treatment covers Euclidean displacements; instantaneous kinematics; two-position, three-position, four-and-more position theory; special motions; multiparameter motions; kinematics in other geometries; and special mathematical methods.
Author: Jens Wittenburg
Publisher: Springer
ISBN: 3662484870
Category : Technology & Engineering
Languages : en
Pages : 697
Get Book
Book Description
The book deals with kinematics of mechanisms. It focuses on a solid theoretical foundation and on mathematical methods applicable to the solution of problems of very diverse nature. Applications are demonstrated in a large number of fully worked-out problems. In kinematics a wide variety of mathematical tools is applicable. In this book, wherever possible vector equations are formulated instead of lengthy scalar coordinate equations. The principle of transference is applied to problems of very diverse nature. 15 chapters of the book are devoted to spatial kinematics and three chapters to planar kinematics. In Chapt. 19 nonlinear dynamics equations of motion are formulated for general spatial mechanisms. Nearly one half of the book is dealing with position theory and the other half with motion. The book is intended for use as reference book for researchers and as textbook in advanced courses on kinematics of mechanisms.
Author: C. H. Chiang
Publisher:
ISBN: 9781575241548
Category : Links and link-motion
Languages : en
Pages : 0
Get Book
Book Description
A study of the kinematics and design of planar mechanisms. It introduces fundamental concepts of instantaneous planar kinematics; deals with dimensional synthesis, or design, of planar linkages; and describes the harmonic analysis of motion and kinetic energy in planar four-link mechanisms.
Author: Stephen Childress
Publisher: American Mathematical Soc.
ISBN: 0821848887
Category : Science
Languages : en
Pages : 218
Get Book
Book Description
This book gives an overview of classical topics in fluid dynamics, focusing on the kinematics and dynamics of incompressible inviscid and Newtonian viscous fluids, but also including some material on compressible flow. The topics are chosen to illustrate the mathematical methods of classical fluid dynamics. The book is intended to prepare the reader for more advanced topics of current research interest.
Author: Oene Bottema
Publisher:
ISBN: 9781621986454
Category : Kinematics
Languages : en
Pages : 558
Get Book
Book Description
Author: Constantine Pozrikidis
Publisher: Oxford University Press
ISBN: 0199752079
Category : Computers
Languages : en
Pages : 1274
Get Book
Book Description
This book discusses the fundamental principles and equations governing the motion of incompressible Newtonian fluids, and simultaneously introduces numerical methods for solving a broad range of problems. Appendices provide a wealth of information that establishes the necessary mathematical and computational framework.
Author: Oleg Vinogradov
Publisher: CRC Press
ISBN: 1420042335
Category : Science
Languages : en
Pages : 306
Get Book
Book Description
The study of the kinematics and dynamics of machines lies at the very core of a mechanical engineering background. Although tremendous advances have been made in the computational and design tools now available, little has changed in the way the subject is presented, both in the classroom and in professional references. Fundamentals of Kinematics and Dynamics of Machines and Mechanisms brings the subject alive and current. The author's careful integration of Mathematica software gives readers a chance to perform symbolic analysis, to plot the results, and most importantly, to animate the motion. They get to "play" with the mechanism parameters and immediately see their effects. The downloadable resources contain Mathematica-based programs for suggested design projects. As useful as Mathematica is, however, a tool should not interfere with but enhance one's grasp of the concepts and the development of analytical skills. The author ensures this with his emphasis on the understanding and application of basic theoretical principles, unified approach to the analysis of planar mechanisms, and introduction to vibrations and rotordynamics.
Author: Julian Schwinger
Publisher: Westview Press
ISBN: 9780738203034
Category : Science
Languages : en
Pages : 400
Get Book
Book Description
A classic from 1969, this book is based on a series of lectures delivered at the Les Houches Summer School of Theoretical Physics in 1955. The book outlines a general scheme of quantum kinematics and dynamics.
Author: Reza N. Jazar
Publisher: Springer Science & Business Media
ISBN: 1441917500
Category : Technology & Engineering
Languages : en
Pages : 889
Get Book
Book Description
The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
