Title: Geometric Design of Linkages (Interdisciplinary Applied Mathematics, 11)
Publisher: Springer (edition Second Edition 2011)
Publication Date: 2012
Language: English
ISBN 10: 1461427673
ISBN 13: 9781461427674
Binding: Paperback
Edition: Second Edition 2011.
Condition: Good

About this title

Synopsis

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.

About the Author

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

"About this title" may belong to another edition of this title.

Store Description

BooksRun helps to save money on textbooks. We are committed to providing each customer with the highest standard of customer service. Please pay close attention to the description of the book and its condition you are ordering. If you have any questions or issues, please make sure to contact us first so we could resolve them. All orders are shipped on the same or the next business day. It usually takes 1 to 5 business days to receive your item if you choose expedited shipping. All orders submitted are eligible for a return within 30 days after the delivery. Thanks for shopping with us!

Visit Seller's Storefront