Geometric Design of Linkages: v.11 (Interdisciplinary Applied Mathematics) - Hardcover

McCarthy, J. M

Hardcover

ISBN 10: 0387989838 ISBN 13: 9780387989839

Publisher: Springer-Verlag New York Inc., 2000

Synopsis

An introduction to the mathematical theory of design for articulated mechanical systems known as linkages. This book will be useful to mathematics, engineering and computer science departments that teach courses on mathematical modelling of robotics and other articulated mechanical systems.

About this title

Review

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)

From the Back Cover

 

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 polynomial continuation solutions. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are used throughout to demonstrate the theory.

 Review of First 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)

Edition details

• Publisher: Springer-Verlag New York Inc.
• Publication date: 2000
• Language: English
• ISBN 10: 0387989838
• ISBN 13: 9780387989839
• Binding: Hardcover
• Number of pages: 341