Synopses & Reviews
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
"...I found the author had provided an excellent text that enabled me to come to terms with the subject. Readers with an interest in the area will find the volume rewarding." -The Mathematical Gazette (2001)
From the reviews of the second edition: "...I found the author had provided an excellent text that enabled me to come to terms with the subject. Readers with an interest in the area will find the volume rewarding." -The Mathematical Gazette (2001) "The book to review is the most extensive source of the synthesis side, containing all the theoretical basics needed for the design of planar, spherical and spatial linkages. ... this book is a real guide from the very beginnings of synthesis of simple mechanisms to the latest, theoretically involved results in the synthesis of multi-loop planar, spherical and spatial linkages." (Manfred Husty, Zentralblatt MATH, Vol. 1227, 2012)
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.