An Introduction To Theoretical Kinematics

Author : J. M. McCarthy
Publisher : MIT Press (MA)
Page : 130 pages
File Size : 41,5 Mb
Release : 1990
Category : Computers
ISBN : 0262132524

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An Introduction to Theoretical Kinematics by J. M. McCarthy Pdf

Introduction to Theoretical Kinematics provides a uniform presentation of the mathematical foundations required for studying the movement of a kinematic chain that makes up robot arms, mechanical hands, walking machines, and similar mechanisms. It is a concise and readable introduction that takes a more modern approach than other kinematics texts and introduces several useful derivations that are new to the literature. The author employs a unique format, highlighting the similarity of the mathematical results for planar, spherical, and spatial cases by studying them all in each chapter rather than as separate topics. For the first time, he applies to kinematic theory two tools of modern mathematics - the theory of multivectors and the theory of Clifford algebras - that serve to clarify the seemingly arbitrary nature of the construction of screws and dual quaternions. The first two chapters formulate the matrices that represent planar, spherical, and spatial displacements and examine a continuous set of displacements which define a continuous movement of a body, introducing the "tangent operator." Chapter 3 focuses on the tangent operators of spatial motion as they are reassembled into six-dimensional vectors or screws, placing these in the modern setting of multivector algebra. Clifford algebras are used in chapter 4 to unify the construction of various hypercomplex "quaternion" numbers. Chapter 5 presents the elementary formulas that compute the degrees of freedom or mobility, of kinematic chains, and chapter 6 defines the structure equations of these chains in terms of matrix transformations. The last chapter computes the quaternion form of the structure equations for ten specific mechanisms. These equations define parameterized manifolds in the Clifford algebras, or "image spaces," associated with planar, spherical, and spatial displacements. McCarthy reveals a particularly interesting result by showing that these parameters can be mathematically manipulated to yield hyperboloids or intersections of hyperboloids.

Author : O. Bottema,B. Roth
Publisher : Courier Corporation
Page : 594 pages
File Size : 41,7 Mb
Release : 1990-01-01
Category : Science
ISBN : 9780486663463

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Theoretical Kinematics by O. Bottema,B. Roth Pdf

Classic, comprehensive treatment covers Euclidean displacements; instantaneous kinematics; two-position, three-position, four-and-more position theory; special motions; multiparameter motions; kinematics in other geometries; and special mathematical methods.

Author : J. Michael McCarthy
Publisher : Springer Science & Business Media
Page : 251 pages
File Size : 40,7 Mb
Release : 2012-08-04
Category : Technology & Engineering
ISBN : 9781447145103

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21st Century Kinematics by J. Michael McCarthy Pdf

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.

Author : Oene Bottema
Publisher : Unknown
Page : 558 pages
File Size : 52,5 Mb
Release : 1979
Category : Kinematics
ISBN : 1621986454

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Theoretical Kinematics by Oene Bottema Pdf

Author : Oleg Vinogradov
Publisher : CRC Press
Page : 306 pages
File Size : 47,8 Mb
Release : 2000-07-25
Category : Science
ISBN : 9781420042337

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Fundamentals of Kinematics and Dynamics of Machines and Mechanisms by Oleg Vinogradov Pdf

The study of the kinematics and dynamics of machines lies at the very core of a mechanical engineering background. Although tremendous advances have been made in the computational and design tools now available, little has changed in the way the subject is presented, both in the classroom and in professional references. Fundamentals of Kinematics and Dynamics of Machines and Mechanisms brings the subject alive and current. The author's careful integration of Mathematica software gives readers a chance to perform symbolic analysis, to plot the results, and most importantly, to animate the motion. They get to "play" with the mechanism parameters and immediately see their effects. The downloadable resources contain Mathematica-based programs for suggested design projects. As useful as Mathematica is, however, a tool should not interfere with but enhance one's grasp of the concepts and the development of analytical skills. The author ensures this with his emphasis on the understanding and application of basic theoretical principles, unified approach to the analysis of planar mechanisms, and introduction to vibrations and rotordynamics.

Author : Felix Klein,Arnold Sommerfeld
Publisher : Springer Science & Business Media
Page : 297 pages
File Size : 54,8 Mb
Release : 2008-12-16
Category : Mathematics
ISBN : 9780817647216

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The Theory of the Top. Volume I by Felix Klein,Arnold Sommerfeld Pdf

The lecture series on the Theory of the Top was originally given as a dedication to Göttingen University by Felix Klein in 1895, but has since found broader appeal. The Theory of the Top: Volume I. Introduction to the Kinematics and Kinetics of the Top is the first of a series of four self-contained English translations that provide insights into kinetic theory and kinematics.

Author : C. H. Chiang
Publisher : Unknown
Page : 0 pages
File Size : 41,5 Mb
Release : 2000
Category : Links and link-motion
ISBN : 1575241544

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Kinematics and Design of Planar Mechanisms by C. H. Chiang Pdf

A study of the kinematics and design of planar mechanisms. It introduces fundamental concepts of instantaneous planar kinematics; deals with dimensional synthesis, or design, of planar linkages; and describes the harmonic analysis of motion and kinetic energy in planar four-link mechanisms.

Author : Reza N. Jazar
Publisher : Springer Science & Business Media
Page : 889 pages
File Size : 40,5 Mb
Release : 2010-06-14
Category : Technology & Engineering
ISBN : 9781441917508

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Theory of Applied Robotics by Reza N. Jazar Pdf

The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.

Author : Stephen Childress
Publisher : American Mathematical Soc.
Page : 218 pages
File Size : 53,6 Mb
Release : 2009-10-09
Category : Science
ISBN : 9780821848883

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An Introduction to Theoretical Fluid Mechanics by Stephen Childress Pdf

This book gives an overview of classical topics in fluid dynamics, focusing on the kinematics and dynamics of incompressible inviscid and Newtonian viscous fluids, but also including some material on compressible flow. The topics are chosen to illustrate the mathematical methods of classical fluid dynamics. The book is intended to prepare the reader for more advanced topics of current research interest.

Author : Constantine Pozrikidis
Publisher : Oxford University Press
Page : 1274 pages
File Size : 43,7 Mb
Release : 2011-11-17
Category : Computers
ISBN : 9780199752072

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Introduction to Theoretical and Computational Fluid Dynamics by Constantine Pozrikidis Pdf

This book discusses the fundamental principles and equations governing the motion of incompressible Newtonian fluids, and simultaneously introduces numerical methods for solving a broad range of problems. Appendices provide a wealth of information that establishes the necessary mathematical and computational framework.

Author : J. Michael McCarthy,Gim Song Soh
Publisher : Springer Science & Business Media
Page : 466 pages
File Size : 49,5 Mb
Release : 2010-11-11
Category : Science
ISBN : 9781441978929

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Geometric Design of Linkages by J. Michael McCarthy,Gim Song Soh Pdf

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.

Author : Richard E. Meyer
Publisher : Courier Corporation
Page : 194 pages
File Size : 54,7 Mb
Release : 2012-03-08
Category : Science
ISBN : 9780486138947

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Introduction to Mathematical Fluid Dynamics by Richard E. Meyer Pdf

Geared toward advanced undergraduate and graduate students in applied mathematics, engineering, and the physical sciences, this introductory text covers kinematics, momentum principle, Newtonian fluid, compressibility, and other subjects. 1971 edition.

Author : Alexander Ziwet
Publisher : Legare Street Press
Page : 0 pages
File Size : 55,6 Mb
Release : 2023-07-18
Category : Electronic
ISBN : 1020979747

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An Elementary Treatise On Theoretical Mechanics by Alexander Ziwet Pdf

An introduction to the principles of theoretical mechanics. This work has been selected by scholars as being culturally important, and is part of the knowledge base of civilization as we know it. This work is in the "public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.

Author : C. H. Chiang
Publisher : Unknown
Page : 0 pages
File Size : 46,5 Mb
Release : 2000
Category : Links and link-motion
ISBN : 1575241552

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Kinematics of Spherical Mechanisms by C. H. Chiang Pdf

This text describes examples of the spherical mechanism that are seen in everyday life, such as the universal joint, a swiveling electric fan and a pair of bevel gears. The subject has received massive impetus from robotics, where many of the results of the theory find their application.

Author : Joaquim A. Batlle,Ana Barjau Condomines
Publisher : Cambridge University Press
Page : 297 pages
File Size : 42,6 Mb
Release : 2020-09-10
Category : Science
ISBN : 9781108479073

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Rigid Body Kinematics by Joaquim A. Batlle,Ana Barjau Condomines Pdf

A rigorous analysis and description of general motion in mechanical systems, which includes over 400 figures illustrating every concept, and a large collection of useful exercises. Ideal for students studying mechanical engineering, and as a reference for graduate students and researchers.