Spatial Kinematic Chains: Analysis-Synthesis-Optimization

Science & Math

Angeles, Jorge

Physics

Secaucus, New Jersey, U.S.A.: Springer Verlag"

Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition). This new edition has been revised and updated throughout to include these new

Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Mechanical Engineering Series)

Computers & Technology

Computer Science

Springer

A rational study of kinematics is a treatment of the subject based on invariants, i.e., quantities that remain essentially unchanged under a change of observer. An observer is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in Ericksen (1960) and Bowen and Wang (1976), and hence will not be included here. Only a short account of notation and definitions will be presented. Moreover, definitions and basic concepts pertaining to the kinematics of rigid bodies will be also included. Although the kinematics of rigid bodies can be regarded as a particular case of the kinematics of continua, the former deserves attention on its own merits for several reasons. One of these is that it describes locally the motions undergone by continua. Another reason is that a whole area of mechanics, known as classical dynamics, is the study of the motions undergone by particles, rigid bodies, and systems thereof.

Rational Kinematics (Springer Tracts in Natural Philosophy, 34)

Reference

Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation can be utilized for a variety of courses, including junior and senior-level vibration and linear mechanical analysis courses. The author connects, by means of a rigorous, yet intuitive approach, the theory of vibration with the more general theory of systems. The book features:
A seven-step modeling technique that helps structure the rather unstructured process of mechanical-system modeling
A system-theoretic approach to deriving the time response of the linear mathematical models of mechanical systems
The modal analysis and the time response of two-degree-of-freedom systems―the first step on the long way to the more elaborate study of multi-degree-of-freedom systems―using the Mohr circle
Simple, yet powerful simulation algorithms that exploit the linearity of the system for both single- and multi-degree-of-freedom systems
Examples and exercises that rely on modern computational toolboxes for both numerical and symbolic computations as well as a Solutions Manual for instructors, with complete solutions of a sample of end-of-chapter exercises
Chapters 3 and 7, on simulation, include in each “Exercises” section a set of miniprojects that require code-writing to implement the algorithms developed in these chapters

Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation (Mechanical Engineering Series)

Rational Kinematics (Springer Tracts in Natural Philosophy)

Fundamentals of Geometry Construction: The Math Behind the CAD (Springer Tracts in Mechanical Engineering)

The textbook provides both beginner and experienced CAD users with the math behind the CAD. The geometry tools introduced here help the reader exploit commercial CAD software to its fullest extent. In fact, the book enables the reader to go beyond what CAD software packages offer in their menus. Chapter 1 summarizes the basic Linear and Vector Algebra pertinent to vectors in 3D, with some novelties: the 2D form of the vector product and the manipulation of "larger" matrices and vectors by means of block-partitioning of larger arrays. In chapter 2 the relations among points, lines and curves in the plane are revised accordingly; the difference between curves representing functions and their geometric counterparts is emphasized. Geometric objects in 3D, namely, points, planes, lines and surfaces are the subject of chapter 3; of the latter, only quadrics are studied, to keep the discussion at an elementary level, but the interested reader is guided to the literature on splines. The concept of affine transformations, at the core of CAD software, is introduced in chapter 4, which includes applications of these transformations to the synthesis of curves and surfaces that would be extremely cumbersome to produce otherwise. The book, catering to various disciplines such as engineering, graphic design, animation and architecture, is kept discipline-independent, while including examples of interest to the various disciplines. Furthermore, the book can be an invaluable complement to undergraduate lectures on CAD.

Pasini, Damiano

Graphics & Design

The textbook provides both beginner and experienced CAD users with the math behind the CAD. The geometry tools introduced here help the reader exploit commercial CAD software to its fullest extent. In fact, the book enables the reader to go beyond what CAD software packages offer in their menus. 
Chapter 1 summarizes the basic Linear and Vector Algebra pertinent to vectors in 3D, with some novelties: the 2D form of the vector product and the manipulation of “larger" matrices and vectors by means of block-partitioning of larger arrays. In chapter 2 the relations among points, lines and curves in the plane are revised accordingly; the difference between curves representing functions and their geometric counterparts is emphasized. Geometric objects in 3D, namely, points, planes, lines and surfaces are the subject of chapter 3; of the latter, only quadrics are studied, to keep the discussion at an elementary level, but the interested reader is guided to the literature on splines. The concept of affine transformations, at the core of CAD software, is introduced in chapter 4, which includes applications of these transformations to the synthesis of curves and surfaces that would be extremely cumbersome to produce otherwise. The book, catering to various disciplines such as engineering, graphic design, animation and architecture, is kept discipline-independent, while including examples of interest to the various disciplines. Furthermore, the book can be an invaluable complement to undergraduate lectures on CAD.

Kinematics of Mechanical Systems: Fundamentals, Analysis and Synthesis (Mathematical Engineering)

Bai, Shaoping

Mathematics

This book is aimed to provide comprehensive and systematic knowledge of kinematic synthesis as developed up to date. Modern mechanical systems require advance kinematics knowledge to support mechanism design with sound theories and methods. The book includes not only the classical foundations of kinematic synthesis, but also the latest advances developed by the authors. Moreover, many examples are included to illustrate both methods and their supporting theory. The focus is on systems of rigid bodies forming closed loops. The four-bar linkage, representing the foundations of mechanical systems,&nbsp; is given due attention, in its three domains: planar, spherical, and spatial. The book contains six chapters, the first two covering fundamentals for kinematic synthesis, including qualitative synthesis. Chapters 3-5 describe, in full detail,&nbsp; the function, motion, and path syntheses of single-dof linkages.&nbsp; In the last chapter, the synthesis of single-dof complex linkages, including six-bar and ten-bar linkages, is introduced. The book is suitable for graduate students of mechanical engineering, researchers of mechanism and robot design, and machine design engineers.

See the best price to sell, buy, or rent books by Angeles, Jorge. BookScouter helps to compare book prices from 25+ online bookstores and 30+ buyback vendors with a single search.

Books by Angeles, Jorge

See the best price to sell, buy, or rent books by Angeles, Jorge. BookScouter helps to compare book prices from 25+ online bookstores and 30+ buyback vendors with a single search.

Spatial Kinematic Chains: Analysis-Synthesis-Optimization

Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Mechanical Engineering Series)

Rational Kinematics (Springer Tracts in Natural Philosophy, 34)

Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation (Mechanical Engineering Series)

Rational Kinematics (Springer Tracts in Natural Philosophy)

Dynamic Response of Linear Mechanical Systems: Modeling, Analysis and Simulation (Mechanical Engineering Series)

Fundamentals of Geometry Construction: The Math Behind the CAD (Springer Tracts in Mechanical Engineering)

Fundamentals of Geometry Construction: The Math Behind the CAD (Springer Tracts in Mechanical Engineering)

Kinematics of Mechanical Systems: Fundamentals, Analysis and Synthesis (Mathematical Engineering)

Kinematics of Mechanical Systems: Fundamentals, Analysis and Synthesis (Mathematical Engineering)