Download or read book Dynamics of Parallel Robots written by Sébastien Briot and published by Springer. This book was released on 2015-06-22 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Download or read book Modeling Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

Download or read book Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering written by Grigore Gogu and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 541 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent advances in the integration and the optimization of product design and manufacturing systems. The book is divided into 3 chapters corresponding to the following three main topics : - optimization of product design process (mechanical design process, mass customization, modeling the product representation, computer support for engineering design, support systems for tolerancing, simulation and optimization tools for structures and for mechanisms and robots), -optimization of manufacturing systems (multi-criteria optimization and fuzzy volumes, tooth path generation, machine-tools behavior, surface integrity and precision, process simulation), - methodological aspects of integrated design and manufacturing (solid modeling, collaborative tools and knowledge formalization, integrating product and process design and innovation, robust and reliable design, multi-agent approach in VR environment). The present book is of interest to engineers, researchers, academic staff, and postgraduate students interested in integrated design and manufacturing in mechanical engineering.

Download or read book Kinematic Geometry of Mechanisms written by Kenneth Henderson Hunt and published by Oxford University Press, USA. This book was released on 1978 with total page 484 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text relates classical two- and three-dimensional geometry to mechanisms. The emphasis is geometrical rather than analytical.

Download or read book Explorations in the History and Heritage of Machines and Mechanisms written by Baichun Zhang and published by Springer. This book was released on 2018-12-11 with total page 355 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of the 6th International Symposium on History of Machines and Mechanisms that was held in Beijing, China, in September 2018. The Symposium provided an international forum for presenting and discussing historical developments in the field of Machine and Mechanism Science (MMS). Special sections focused on the following topics: . modern reviews of past works · engineers in history, and their works · direct memories of the recent past · the development of theories · the history of the design of machines and mechanisms · development of automation and robots · the development of teaching of MMS · the schools and institutes of mechanical engineering · the heritage of machines and mechanisms

Download or read book History of Nonlinear Oscillations Theory in France 1880 1940 written by Jean-Marc Ginoux and published by Springer. This book was released on 2017-04-18 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reveals the French scientific contribution to the mathematical theory of nonlinear oscillations and its development. The work offers a critical examination of sources with a focus on the twentieth century, especially the period between the wars. Readers will see that, contrary to what is often written, France's role has been significant. Important contributions were made through both the work of French scholars from within diverse disciplines (mathematicians, physicists, engineers), and through the geographical crossroads that France provided to scientific communication at the time. This study includes an examination of the period before the First World War which is vital to understanding the work of the later period. By examining literature sources such as periodicals on the topic of electricity from that era, the author has unearthed a very important text by Henri Poincaré, dating from 1908. In this work Poincaré applied the concept of limit cycle (which he had introduced in 1882 through his own works) to study the stability of the oscillations of a device for radio engineering. The “discovery” of this text means that the classical perspective of the historiography of this mathematical theory must be modified. Credit was hitherto attributed to the Russian mathematician Andronov, from correspondence dating to 1929. In the newly discovered Poincaré text there appears to be a strong interaction between science and technology or, more precisely, between mathematical analysis and radio engineering. This feature is one of the main components of the process of developing the theory of nonlinear oscillations. Indeed it is a feature of many of the texts referred to in these chapters, as they trace the significant developments to which France contributed. Scholars in the fields of the history of mathematics and the history of science, and anyone with an interest in the philosophical underpinnings of science will find this a particularly engaging account of scientific discovery and scholarly communication from an era full of exciting developments.

Download or read book Origins and Development of Kinetic Art written by Frank Popper and published by . This book was released on 1968 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Acoustics Aeroacoustics and Vibrations written by Fabien Anselmet and published by John Wiley & Sons. This book was released on 2016-01-07 with total page 529 pages. Available in PDF, EPUB and Kindle. Book excerpt: This didactic book presents the main elements of acoustics, aeroacoustics and vibrations. Illustrated with numerous concrete examples linked to solid and fluid continua, Acoustics, Aeroacoustics and Vibrations proposes a selection of applications encountered in the three fields, whether in room acoustics, transport, energy production systems or environmental problems. Theoretical approaches enable us to analyze the different processes in play. Typical results, mostly from numerical simulations, are used to illustrate the main phenomena (fluid acoustics, radiation, diffraction, vibroacoustics, etc.).

Download or read book Quantum Mechanics Volume 3 written by Claude Cohen-Tannoudji and published by John Wiley & Sons. This book was released on 2019-12-16 with total page 790 pages. Available in PDF, EPUB and Kindle. Book excerpt: This new, third volume of Cohen-Tannoudji's groundbreaking textbook covers advanced topics of quantum mechanics such as uncorrelated and correlated identical particles, the quantum theory of the electromagnetic field, absorption, emission and scattering of photons by atoms, and quantum entanglement. Written in a didactically unrivalled manner, the textbook explains the fundamental concepts in seven chapters which are elaborated in accompanying complements that provide more detailed discussions, examples and applications. * Completing the success story: the third and final volume of the quantum mechanics textbook written by 1997 Nobel laureate Claude Cohen-Tannoudji and his colleagues Bernard Diu and Franck Laloë * As easily comprehensible as possible: all steps of the physical background and its mathematical representation are spelled out explicitly * Comprehensive: in addition to the fundamentals themselves, the books comes with a wealth of elaborately explained examples and applications Claude Cohen-Tannoudji was a researcher at the Kastler-Brossel laboratory of the Ecole Normale Supérieure in Paris where he also studied and received his PhD in 1962. In 1973 he became Professor of atomic and molecular physics at the Collège des France. His main research interests were optical pumping, quantum optics and atom-photon interactions. In 1997, Claude Cohen-Tannoudji, together with Steven Chu and William D. Phillips, was awarded the Nobel Prize in Physics for his research on laser cooling and trapping of neutral atoms. Bernard Diu was Professor at the Denis Diderot University (Paris VII). He was engaged in research at the Laboratory of Theoretical Physics and High Energy where his focus was on strong interactions physics and statistical mechanics. Franck Laloë was a researcher at the Kastler-Brossel laboratory of the Ecole Normale Supérieure in Paris. His first assignment was with the University of Paris VI before he was appointed to the CNRS, the French National Research Center. His research was focused on optical pumping, statistical mechanics of quantum gases, musical acoustics and the foundations of quantum mechanics.

Download or read book Fundamentals of Inertial Navigation Satellite based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-26 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Download or read book Inelastic Analysis of Structures under Variable Loads written by Dieter Weichert and published by Springer Science & Business Media. This book was released on 2001-11-30 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: The question whether a structure or a machine component can carry the applied loads, and with which margin of safety, or whether it will become unserviceable due to collapse or excessive inelastic deformations, has always been a major concern for civil and mechanical engineers. The development of methods to answer this technologically crucial question without analysing the evolution of the system under varying loads, has a long tradition that can be traced back even to the times of emerging mechanical sciences in the early 17th century. However, the scientific foundations of the theories underlying these methods, nowadays frequently called "direct", were established sporadically in the Thirties of the 20th century and systematically and rigorously in the Fifties. Further motivations for the development of direct analysis techniques in applied mechanics of solids and structures arise from the circumstance that in many engineering situations the external actions fluctuate according to time histories not a priori known except for some essential features, e.g. variation intervals. In such situations the critical events (or "limit states") to consider, besides plastic collapse, are incremental collapse (or "ratchetting") and alternating plastic yielding, namely lack of "shakedown". Non evolutionary, direct methods for ultimate limit state analysis of structures subjected to variably-repeated external actions are the objectives of most papers collected in this book, which also contains a few contributions on related topics.

Download or read book Nocturnal Fabulations written by Érik Bordeleau and published by . This book was released on 2017-03-31 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: This collective project by Erik Bordeleau, Toni Pape, Ronald Rose-Antoinette and Adam Szymanski is not simply 'about' Apichatpong Weerasethakul, though it does engage his work in detail. It is a book that deeply questions what else might be at stake in setting up the conditions for collaboration across two genres - cinema and writing.

Download or read book Dictionary of Building and Civil Engineering written by Don Montague and published by Taylor & Francis. This book was released on 1996 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dual-language dictionary lists over 20,000 specialist terms in both French and English, covering architecture, building, engineering and property terms. It meets the needs of all building professionals working on projects overseas. It has been comprehensively researched and compiled to provide an invaluable reference source in an increasingly European marketplace.

Download or read book GIS for Coastal Zone Management written by Darius Bartlett and published by CRC Press. This book was released on 2004-08-27 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Increasingly used to analyze and manage marine and coastal zones, Geographical Information Systems (GIS) provide a powerful set of tools for integrating and processing spatial information. These technologies are increasingly used in the management and analysis of the coastal zone. Supplying the guidance necessary to use these tools, GIS for Coastal

Download or read book Flexible Joint Robots written by Mark C. Readman and published by CRC Press. This book was released on 1994-07-13 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.

Download or read book Spherical Near field Antenna Measurements written by Jesper E. Hansen and published by IET. This book was released on 1988 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the aspects of antenna test ranges, data processing schemes and measurement schemes.

Download or read book Myth and Geology written by Luigi Piccardi and published by Geological Society of London. This book was released on 2007 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This book is the first peer-reviewed collection of papers focusing on the potential of myth storylines to yield data and lessons that are of value to the geological sciences. Building on the nascent discipline of geomythology, scientists and scholars from a variety of disciplines have contributed to this volume. The geological hazards (such as earthquakes, tsunamis, volcanic eruptions and cosmic impacts) that have given rise to myths are considered, as are the sacred and cultural values associated with rocks, fossils, geological formations and landscapes. There are also discussions about the historical and literary perspectives of geomythology. Regional coverage includes Europe and the Mediterranean, Afghanistan, Cameroon, India, Australia, Japan, Pacific islands, South America and North America. Myth and Geology challenges the widespread notion that myths are fictitious or otherwise lacking in value for the physical sciences." -- BOOK JACKET.