The Configuration Space Method For Kinematic Design Of Mechanisms

Author : Elisha Sacks,Leo Joskowicz
Publisher : MIT Press
Page : 213 pages
File Size : 55,8 Mb
Release : 2010
Category : Computers
ISBN : 9780262013895

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The Configuration Space Method for Kinematic Design of Mechanisms by Elisha Sacks,Leo Joskowicz Pdf

A novel algorithmic approach to mechanism design based on a geometric representation of kinematic function called configuration space partitions. This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.

Author : Amaresh Chakrabarti
Publisher : Springer Science & Business Media
Page : 371 pages
File Size : 45,9 Mb
Release : 2013-03-09
Category : Technology & Engineering
ISBN : 9781447137177

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Engineering Design Synthesis by Amaresh Chakrabarti Pdf

This book brings together some of the most influential pieces of research undertaken around the world in design synthesis. It is the first comprehensive work of this kind and covers all three aspects of research in design synthesis: - understanding what constitutes and influences synthesis; - the major approaches to synthesis; - the diverse range of tools that are created to support this crucial design task. With its range of tools and methods covered, it is an ideal introduction to design synthesis for those intending to research in this area as well as being a valuable source of ideas for educators and practitioners of engineering design.

Author : Nicolae Pandrea,Dinel Popa,Nicolae-Doru Stanescu
Publisher : John Wiley & Sons
Page : 361 pages
File Size : 51,6 Mb
Release : 2017-04-24
Category : Technology & Engineering
ISBN : 9781119221616

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Classical and Modern Approaches in the Theory of Mechanisms by Nicolae Pandrea,Dinel Popa,Nicolae-Doru Stanescu Pdf

Classical and Modern Approaches in the Theory of Mechanisms is a study of mechanisms in the broadest sense, covering the theoretical background of mechanisms, their structures and components, the planar and spatial analysis of mechanisms, motion transmission, and technical approaches to kinematics, mechanical systems, and machine dynamics. In addition to classical approaches, the book presents two new methods: the analytic-assisted method using Turbo Pascal calculation programs, and the graphic-assisted method, outlining the steps required for the development of graphic constructions using AutoCAD; the applications of these methods are illustrated with examples. Aimed at students of mechanical engineering, and engineers designing and developing mechanisms in their own fields, this book provides a useful overview of classical theories, and modern approaches to the practical and creative application of mechanisms, in seeking solutions to increasingly complex problems.

Author : Hoda A. ElMaraghy
Publisher : Springer Science & Business Media
Page : 468 pages
File Size : 53,5 Mb
Release : 2012-12-06
Category : Science
ISBN : 9781461557975

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Geometric Design Tolerancing: Theories, Standards and Applications by Hoda A. ElMaraghy Pdf

The importance of proper geometric dimensioning and tolerancing as a means of expressing the designer's functional intent and controlling the inevitable geometric and dimensional variations of mechanical parts and assemblies, is becoming well recognized. The research efforts and innovations in the field of tolerancing design, the development of supporting tools, techniques and algorithms, and the significant advances in computing software and hardware all have contributed to its recognition as a viable area of serious scholarly contributions. The field of tolerancing design is successfully making the transition to maturity where deeper insights and sound theories are being developed to offer explanations, and reliable implementations are introduced to provide solutions. Machine designers realized very early that manufacturing processes do not produce the nominal dimensions of designed parts. The notion of associating a lower and an upper limit, referred to as tolerances, with each dimen sion was introduced. Tolerances were specified to ensure the proper function of mating features. Fits of mating features included clearances, location fits, and interference fits, with various sub-grades in each category assigned a tolerance value depending on the nominal size of the mating features. During the inspection process, a part is rejected if a dimension fell outside the specified range. As the accuracy requirements in assemblies became tighter, designers had to consider other critical dimensions and allocate tolerances to them in order to ensure the assembly's functionality.

Author : Spyros G. Tzafestas
Publisher : Springer Science & Business Media
Page : 504 pages
File Size : 51,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447109594

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Computer-Assisted Management and Control of Manufacturing Systems by Spyros G. Tzafestas Pdf

Modem manufacturing systems involve many processes and operations that can be monitored and controlled at several levels of intelligence. At the highest level there is a computer that supervises the various manufacturing functions, whereas at the lowest level there are stand alone computer controlled systems of manufacturing processes and robotic cells. Until recenty computer-aided manufacturing systems constituted isolated "islands" of automation, each oriented to a particular application, but present day systems offer integrated approaches to manufacturing and enterprise operations. These modem systems, known as computer-integrated manufacturing (CIM) systems, can easily meet the current performance and manufacturing competitiveness requirements under strong environmental changes. CIM systems are much of a challenge, and imply a systemic approach to the design and operation of a manufacturing enterprise. Actualy, a CIM system must take into account in a unified way the following three views : the user view, the technology view, and the enterprise view. This means that CIM includes both the engineering and enterprise planning and control activities, as well as the information flow activities across all the stages of the system.

Author : Jadran Lenarcic,Tadej Bajd,Michael M. Stanišić
Publisher : Springer Science & Business Media
Page : 342 pages
File Size : 46,7 Mb
Release : 2012-06-12
Category : Technology & Engineering
ISBN : 9789400745223

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Robot Mechanisms by Jadran Lenarcic,Tadej Bajd,Michael M. Stanišić Pdf

This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Author : Bruce Donald,Kevin Lynch,Daniela Rus
Publisher : CRC Press
Page : 390 pages
File Size : 54,6 Mb
Release : 2001-04-21
Category : Computers
ISBN : 9781439864135

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Algorithmic and Computational Robotics by Bruce Donald,Kevin Lynch,Daniela Rus Pdf

Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications.

Author : Kenneth D. Forbus
Publisher : MIT Press
Page : 441 pages
File Size : 53,9 Mb
Release : 2019-01-29
Category : Psychology
ISBN : 9780262349819

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Qualitative Representations by Kenneth D. Forbus Pdf

An argument that qualitative representations—symbolic representations that carve continuous phenomena into meaningful units—are central to human cognition. In this book, Kenneth Forbus proposes that qualitative representations hold the key to one of the deepest mysteries of cognitive science: how we reason and learn about the continuous phenomena surrounding us. Forbus argues that qualitative representations—symbolic representations that carve continuous phenomena into meaningful units—are central to human cognition. Qualitative representations provide a basis for commonsense reasoning, because they enable practical reasoning with very little data; this makes qualitative representations a useful component of natural language semantics. Qualitative representations also provide a foundation for expert reasoning in science and engineering by making explicit the broad categories of things that might happen and enabling causal models that help guide the application of more quantitative knowledge as needed. Qualitative representations are important for creating more human-like artificial intelligence systems with capabilities for spatial reasoning, vision, question answering, and understanding natural language. Forbus discusses, among other topics, basic ideas of knowledge representation and reasoning; qualitative process theory; qualitative simulation and reasoning about change; compositional modeling; qualitative spatial reasoning; and learning and conceptual change. His argument is notable both for presenting an approach to qualitative reasoning in which analogical reasoning and learning play crucial roles and for marshaling a wide variety of evidence, including the performance of AI systems. Cognitive scientists will find Forbus's account of qualitative representations illuminating; AI scientists will value Forbus's new approach to qualitative representations and the overview he offers.

Author : Rivka Gitik,Leo Joskowicz
Publisher : World Scientific
Page : 160 pages
File Size : 42,7 Mb
Release : 2022-08-11
Category : Computers
ISBN : 9789811253850

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Computational Geometry With Independent And Dependent Uncertainties by Rivka Gitik,Leo Joskowicz Pdf

This comprehensive compendium describes a parametric model and algorithmic theory to represent geometric entities with dependent uncertainties between them. The theory, named Linear Parametric Geometric Uncertainty Model (LPGUM), is an expressive and computationally efficient framework that allows to systematically study geometric uncertainty and its related algorithms in computer geometry.The self-contained monograph is of great scientific, technical, and economic importance as geometric uncertainty is ubiquitous in mechanical CAD/CAM, robotics, computer vision, wireless networks and many other fields. Geometric models, in contrast, are usually exact and do not account for these inaccuracies.This useful reference text benefits academics, researchers, and practitioners in computer science, robotics, mechanical engineering and related fields.

Author : Teofilo Gonzalez,Jorge Diaz-Herrera,Allen Tucker
Publisher : CRC Press
Page : 2330 pages
File Size : 44,5 Mb
Release : 2014-05-07
Category : Mathematics
ISBN : 9781439898529

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Computing Handbook, Third Edition by Teofilo Gonzalez,Jorge Diaz-Herrera,Allen Tucker Pdf

Computing Handbook, Third Edition: Computer Science and Software Engineering mirrors the modern taxonomy of computer science and software engineering as described by the Association for Computing Machinery (ACM) and the IEEE Computer Society (IEEE-CS). Written by established leading experts and influential young researchers, the first volume of this popular handbook examines the elements involved in designing and implementing software, new areas in which computers are being used, and ways to solve computing problems. The book also explores our current understanding of software engineering and its effect on the practice of software development and the education of software professionals. Like the second volume, this first volume describes what occurs in research laboratories, educational institutions, and public and private organizations to advance the effective development and use of computers and computing in today’s world. Research-level survey articles provide deep insights into the computing discipline, enabling readers to understand the principles and practices that drive computing education, research, and development in the twenty-first century.

Author : Dean Taylor,Larry A. Stauffer
Publisher : Unknown
Page : 398 pages
File Size : 47,8 Mb
Release : 1992
Category : Technology & Engineering
ISBN : UOM:39015029166975

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Design Theory and Methodology, DTM '92 by Dean Taylor,Larry A. Stauffer Pdf

Author : Chung Ha Suh,Charles W. Radcliffe
Publisher : Unknown
Page : 472 pages
File Size : 53,7 Mb
Release : 1983
Category : Technology & Engineering
ISBN : UOM:39015004494491

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Kinematics and Mechanisms Design by Chung Ha Suh,Charles W. Radcliffe Pdf

Author : Homer D. Eckhardt
Publisher : McGraw Hill Professional
Page : 674 pages
File Size : 41,6 Mb
Release : 1998
Category : Science
ISBN : 0070189536

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Kinematic Design of Machines and Mechanisms by Homer D. Eckhardt Pdf

This text gives mechanical engineers and designers practical information and how-to methodologies for the application of the geometry of motion. It covers such devices as crank-slider, quick-return mechanisms, linkages, cams, and gear and gear trains.

Author : Jadran Lenarcic,Vincenzo Parenti-Castelli
Publisher : Springer
Page : 477 pages
File Size : 52,7 Mb
Release : 2018-06-22
Category : Technology & Engineering
ISBN : 9783319931883

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Advances in Robot Kinematics 2018 by Jadran Lenarcic,Vincenzo Parenti-Castelli Pdf

This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.

Author : Oriol Bohigas,Montserrat Manubens,Lluís Ros
Publisher : Springer
Page : 184 pages
File Size : 53,6 Mb
Release : 2016-09-08
Category : Technology & Engineering
ISBN : 9783319329222

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Singularities of Robot Mechanisms by Oriol Bohigas,Montserrat Manubens,Lluís Ros Pdf

This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves. The theory can be put into practice as well: a companion web page gives open access to implementations of the algorithms and the corresponding input files. Using them, the reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.