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Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 1441978925
Category : Science
Languages : en
Pages : 466
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Book Description
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.
Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 1441978925
Category : Science
Languages : en
Pages : 466
Get Book Here
Book Description
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.
Author: Nicholas P. Chironis
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages :
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Book Description
Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 0387227350
Category : Mathematics
Languages : en
Pages : 337
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Book Description
An introduction to the mathematical theory of design for articulated mechanical systems known as linkages. This book will be useful to mathematics, engineering and computer science departments that teach courses on mathematical modelling of robotics and other articulated mechanical systems.
Author: Delun Wang
Publisher: John Wiley & Sons
ISBN: 1118255070
Category : Technology & Engineering
Languages : en
Pages : 496
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Book Description
With a pioneering methodology, the book covers the fundamental aspects of kinematic analysis and synthesis of linkage, and provides a theoretical foundation for engineers and researchers in mechanisms design. • The first book to propose a complete curvature theory for planar, spherical and spatial motion • Treatment of the synthesis of linkages with a novel approach • Well-structured format with chapters introducing clearly distinguishable concepts following in a logical sequence dealing with planar, spherical and spatial motion • Presents a pioneering methodology by a recognized expert in the field and brought up to date with the latest research and findings • Fundamental theory and application examples are supplied fully illustrated throughout
Author: Brian Bow
Publisher: UBC Press
ISBN: 0774859067
Category : Political Science
Languages : en
Pages : 235
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Book Description
Do Canada and the United States share a special relationship, or is this just a face-saving myth, masking dependency and domination? The Politics of Linkage cuts through the rhetoric that clouds this debate by offering detailed accounts of four major bilateral disputes. It shows that the United States has not made coercive linkages between issues. In the early Cold War years, the exercise of American power over Canada was held in check by a genuinely special diplomatic culture but since then has been held back only by interest groups and institutions. This revisionist account of Canada-US relations is essential reading for anyone interested in Canadian politics, American foreign policy, or international diplomacy.
Author: Erik D. Demaine
Publisher: Cambridge University Press
ISBN: 1107394090
Category : Computers
Languages : en
Pages : 388
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Book Description
Did you know that any straight-line drawing on paper can be folded so that the complete drawing can be cut out with one straight scissors cut? That there is a planar linkage that can trace out any algebraic curve, or even 'sign your name'? Or that a 'Latin cross' unfolding of a cube can be refolded to 23 different convex polyhedra? Over the past decade, there has been a surge of interest in such problems, with applications ranging from robotics to protein folding. With an emphasis on algorithmic or computational aspects, this treatment gives hundreds of results and over 60 unsolved 'open problems' to inspire further research. The authors cover one-dimensional (1D) objects (linkages), 2D objects (paper), and 3D objects (polyhedra). Aimed at advanced undergraduate and graduate students in mathematics or computer science, this lavishly illustrated book will fascinate a broad audience, from school students to researchers.
Author: Richard T. Mowday
Publisher: Academic Press
ISBN: 1483267393
Category : Self-Help
Languages : en
Pages : 264
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Book Description
Employee-Organization Linkages: The Psychology of Commitment, Absenteeism, and Turnover summarizes the theory and research on employee-organization linkages, including the processes through which employees become linked to work organizations, the quality of such linkages, and how linkages are weakened or severed. The text identifies the determinants of employee commitment, absenteeism, and turnover, as well as their consequences for the individual, work groups, and the larger organization. The book also presents conceptual models on how employees become committed to, decide to be absent from, and decide to leave their organizations. Human resource practitioners, managers, employers, and industrial psychologists will find the book very informative and insightful.
Author: Richard Scheunemann Hartenberg
Publisher:
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 462
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Book Description
Author: O. Abdul Rahiman Kunju
Publisher: Concept Publishing Company
ISBN: 9788170223948
Category : Agriculture
Languages : en
Pages : 200
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Book Description
Author: Jingshan Zhao
Publisher: Springer Science & Business Media
ISBN: 364238448X
Category : Technology & Engineering
Languages : en
Pages : 302
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Book Description
Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering. Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reachable workspace and singularity of a planar 3-RRR linkage, which can be used to analyze other planar linkages. Then a foldable stair that retains the walking conversions of human beings and all the merits of a concrete stair in civil engineering is described along with a lifting guidance mechanism that has the advantages of high strength, high rigidity, lightweight overconstraint trusses and motion flexibility. The method proposed in this book can be applied to other planar linkages. This book offers a valuable resource for scientists, researchers, engineers, graduate students in mechanical engineering especially those interested in engineering design, robotics and automation. Jingshan Zhao, Associate professor; Zhijing Feng and Fulei Chu, professor; Ning Ma, Dr., all work at the Department of Mechanical Engineering, Tsinghua University.
