Download or read book Theoretical Kinematics written by O. Bottema and published by Courier Corporation. This book was released on 1990-01-01 with total page 594 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book An Introduction to Theoretical Kinematics written by J. M. McCarthy and published by MIT Press (MA). This book was released on 1990 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Kinematics written by Jens Wittenburg and published by Springer. This book was released on 2016-01-12 with total page 697 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Fundamentals of Kinematics and Dynamics of Machines and Mechanisms written by Oleg Vinogradov and published by CRC Press. This book was released on 2000-07-25 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Rigid Body Kinematics written by Joaquim A. Batlle and published by Cambridge University Press. This book was released on 2020-09-10 with total page 297 pages. Available in PDF, EPUB and Kindle. Book excerpt: A rigorous analysis and description of general motion in mechanical systems, which includes over 400 figures illustrating every concept, and a large collection of useful exercises. Ideal for students studying mechanical engineering, and as a reference for graduate students and researchers.
Download or read book Geometric Design of Linkages written by J. Michael McCarthy and published by Springer Science & Business Media. This book was released on 2010-11-11 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Kinematics and Design of Planar Mechanisms written by C. H. Chiang and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Basic Physics written by Kenneth W Ford and published by World Scientific Publishing Company. This book was released on 2016-12-15 with total page 853 pages. Available in PDF, EPUB and Kindle. Book excerpt: This reissued version of the classic text Basic Physics will help teachers at both the high-school and college levels gain new insights into, and deeper understanding of, many topics in both classical and modern physics that are commonly taught in introductory physics courses. All of the original book is included with new content added. Short sections of the previous book (174 in number) are labeled 'Features.' These Features are highlighted in the book, set forth in a separate Table of Contents, and separately indexed.Many teachers will value this book as a personal reference during a teaching year as various topics are addressed. Ford's discussions of the history and meaning of topics from Newton's mechanics to Feynman's diagrams, although written first in 1968, have beautifully withstood the test of time and are fully relevant to 21st-century physics teaching.
Download or read book Kinematics and Dynamics of Galactic Stellar Populations written by Rafael Cubarsi and published by Cambridge Scholars Publishing. This book was released on 2018-07-27 with total page 223 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Computational Kinematics written by J. Angeles and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu tions, and the question as to the number of solutions to expect still remains.
Download or read book Theory of Applied Robotics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2010-06-14 with total page 889 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Computational Kinematics written by Saïd Zeghloul and published by Springer. This book was released on 2017-07-03 with total page 611 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Download or read book The Kinematics of Machinery written by Franz Reuleaux and published by Franklin Classics. This book was released on 2018-10-11 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work has been selected by scholars as being culturally important and is part of the knowledge base of civilization as we know it. This work is in the public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. To ensure a quality reading experience, this work has been proofread and republished using a format that seamlessly blends the original graphical elements with text in an easy-to-read typeface. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.
Download or read book Kinematics of Spherical Mechanisms written by C. H. Chiang and published by . This book was released on 2000 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text describes examples of the spherical mechanism that are seen in everyday life, such as the universal joint, a swiveling electric fan and a pair of bevel gears. The subject has received massive impetus from robotics, where many of the results of the theory find their application.
Download or read book 21st Century Kinematics written by J. Michael McCarthy and published by Springer Science & Business Media. This book was released on 2012-08-04 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book The Kinematics of Machinery written by Franz Reuleaux and published by . This book was released on 1876 with total page 654 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Robot Kinematics Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
