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Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Arthur G. Erdman
Publisher: Wiley-Interscience
ISBN:
Category : Science
Languages : en
Pages : 632
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Book Description
Each chapter, covering one major topic, will contain a discussion and analysis of the major developments of the past forty years, including the most recent developments in each topic, and offers a projection of where each basic research area is heading. Covers the most important theoretical aspects of kinematics as follows: planar and spatial synthesis, planar and spatial analysis, gear design, cam systems, dynamics, computational techniques and optimization in the design of mechanisms.
Author: J. Michael McCarthy
Publisher: Springer Science & Business Media
ISBN: 1447145100
Category : Technology & Engineering
Languages : en
Pages : 251
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Book Description
21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.
Author:
Publisher: Cybellium Ltd
ISBN:
Category : Computers
Languages : en
Pages : 152
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Book Description
Unveil the Secrets of Motion and Mechanisms In the realm of engineering and mechanics, understanding the principles of kinematics is paramount to designing and analyzing moving systems. "Mastering Kinematics" is your comprehensive guide to unraveling the complexities of motion, empowering you to comprehend, model, and optimize mechanical systems with precision. About the Book: As technology advances and mechanical systems become more intricate, kinematics emerges as a foundational discipline for engineers and designers. "Mastering Kinematics" offers an in-depth exploration of kinematic principles—a fundamental aspect of mechanics. This book caters to both newcomers and experienced practitioners aiming to excel in kinematic analysis, design, and implementation. Key Features: Kinematic Fundamentals: Begin by understanding the core principles of kinematics. Learn about displacement, velocity, acceleration, and the laws that govern motion. Planar and Spatial Mechanisms: Dive into the mechanics of mechanisms. Explore planar and spatial motion, understanding how mechanisms work and interact. Kinematic Analysis: Grasp the art of analyzing the motion of mechanical systems. Learn how to use equations, graphs, and software tools to study kinematic behavior. Forward and Inverse Kinematics: Explore techniques for solving forward and inverse kinematic problems. Learn how to determine end effector positions and joint configurations. Robotics Kinematics: Understand the significance of kinematics in robotics. Learn how to model and analyze the motion of robotic manipulators and end effectors. Kinematic Design: Delve into the realm of kinematic design. Explore how to optimize linkages, mechanisms, and robotic systems for desired motion. Real-World Applications: Gain insights into how kinematics is applied across industries. From robotics to automotive engineering, discover the diverse applications of kinematic principles. Why This Book Matters: In a world driven by innovation and engineering excellence, mastering kinematics offers a competitive edge. "Mastering Kinematics" empowers engineers, designers, robotics enthusiasts, and technology adopters to leverage kinematic principles, enabling them to design, analyze, and optimize mechanical systems with precision and efficiency. Unravel the Mysteries of Motion: In the landscape of mechanics and engineering, kinematics is the key to understanding motion. "Mastering Kinematics" equips you with the knowledge needed to leverage kinematic principles, enabling you to comprehend, model, and optimize the behavior of mechanical systems. Whether you're an experienced practitioner or new to the world of kinematics, this book will guide you in building a solid foundation for effective motion analysis and design. Your journey to mastering kinematics starts here. © 2023 Cybellium Ltd. All rights reserved. www.cybellium.com
Author: Francis C. Moon
Publisher: Springer Science & Business Media
ISBN: 1402055994
Category : Science
Languages : en
Pages : 445
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Book Description
This fascinating book will be of as much interest to engineers as to art historians, examining as it does the evolution of machine design methodology from the Renaissance to the Age of Machines in the 19th century. It provides detailed analysis, comparing design concepts of engineers of the 15th century Renaissance and the 19th century age of machines from a workshop tradition to the rational scientific discipline used today.
Author: J. M. McCarthy
Publisher: MIT Press (MA)
ISBN: 9780262132527
Category : Computers
Languages : en
Pages : 130
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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: Jens Wittenburg
Publisher: Springer
ISBN: 3662484870
Category : Technology & Engineering
Languages : en
Pages : 697
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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: Rafael Cubarsi
Publisher: Cambridge Scholars Publishing
ISBN: 1527514803
Category : Science
Languages : en
Pages : 223
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Book Description
Stellar dynamics is an interdisciplinary field where mathematics, statistics, physics, and astronomy overlap. The approaches to studying a stellar system include dealing with the collisionless Boltzmann equation, the Chandrasekhar equations, and stellar hydrodynamic equations, which are comparable to the equations of motion of a compressible viscous fluid. Their equivalence gives rise to the closure problem, connected with the higher-order moments of the stellar velocity distribution, which is explained and solved for maximum entropy distributions and for any velocity distribution function, depending on a polynomial function in the velocity variables. On the other hand, the Milky Way kinematics in the solar neighbourhood needs to be described as a mixture distribution accounting for the stellar populations composing the Galactic components. As such, the book offers a statistical study, according to the moments and cumulants of a population mixture, and a dynamical approach, according to a superposition of Chandrasekhar stellar systems, connected with the potential function and the symmetries of the model.
Author: Eugene S. Ferguson
Publisher: Good Press
ISBN:
Category : Fiction
Languages : en
Pages : 110
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Book Description
This engineering science-based book is one for scholars and enthusiasts of the study of motion and how machines can be made to produce various patterns of movement and effects, although the style is accessible to a lay reader. The book is divided into several chapters, the first of which pays homage to Sir Charles Watt, but also acknowledges debts of gratitude to earlier scientists such as Da Vinci.
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.
