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Interdisciplinary Applied Mathematics #11: Geometric Design of Linkages

by

Interdisciplinary Applied Mathematics #11: Geometric Design of Linkages Cover

 

Synopses & Reviews

Publisher Comments:

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 workpiece, 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. This new edition includes research results of the past decade on the synthesis of multiloop 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 the linear product decomposition of polynomial systems and

Synopsis:

Now in a fresh edition that includes recent results on the synthesis of multiloop planar and spherical linkages and the use of homotopy methods and Clifford algebras in synthesizing spatial serial chains, this volume is a foundation for linkage design theory.

About the Author

J. Michael McCarthy is a Professor in the Department of Mechanical Engineering at University of California, Irvine.

Table of Contents

Introduction.- Analysis of Planar Linkages.- Graphical Synthesis in the Plane.- Planar Kinematics.- Algebraic Synthesis of Planar.- Multiloop Planar Linkages.- Analysis of Spherical Linkages.- Spherical Kinematics.- Algebraic Synthesis of Spherical Chains.- Multiloop Spherical.- Analysis of Spatial Chains.- Spatial Kinematics.- Algebraic Synthesis of Spatial.- Synthesis of Spatial Chains with Reachable Surface.- Clifford Algebra Synthesis of Spatial Chains.- Platform Manipulators.- References.

Product Details

ISBN:
9781461427674
Author:
Mccarthy, J. Michael
Publisher:
Springer
Author:
McCarthy, J. Michael
Author:
Soh, Gim Song
Subject:
System Theory
Subject:
Kinematic synthesis of linkages
Subject:
analysis and synthesis of planar
Subject:
spatial open and closed chains
Subject:
Systems Theory, Control
Subject:
Robotics and Automation
Subject:
Control
Subject:
Algebraic Geometry
Subject:
Mathematics-Applied
Copyright:
Edition Description:
Softcover reprint of hardcover 2nd ed. 2011
Series:
Interdisciplinary Applied Mathematics
Series Volume:
11
Publication Date:
20121227
Binding:
TRADE PAPER
Language:
English
Pages:
476
Dimensions:
235 x 155 mm 724 gr

Related Subjects

Computers and Internet » Artificial Intelligence » Robotics
History and Social Science » Economics » General
Reference » Science Reference » Technology
Science and Mathematics » Mathematics » Applied
Science and Mathematics » Mathematics » Geometry » Algebraic Geometry
Science and Mathematics » Mathematics » Systems Theory

Interdisciplinary Applied Mathematics #11: Geometric Design of Linkages New Trade Paper
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Product details 476 pages Springer - English 9781461427674 Reviews:
"Synopsis" by , Now in a fresh edition that includes recent results on the synthesis of multiloop planar and spherical linkages and the use of homotopy methods and Clifford algebras in synthesizing spatial serial chains, this volume is a foundation for linkage design theory.
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