Geometric Design of Linkages (Paperback, Softcover reprint of hardcover 2nd ed. 2011)

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.

General

Imprint:	Springer-Verlag New York
Country of origin:	United States
Series:	Interdisciplinary Applied Mathematics, 11
Release date:	December 2012
First published:	2011
Authors:	J. Michael McCarthy • Gim Song Soh
Dimensions:	235 x 155 x 24mm (L x W x T)
Format:	Paperback
Pages:	448
Edition:	Softcover reprint of hardcover 2nd ed. 2011
ISBN-13:	978-1-4614-2767-4
Languages:	English
Subtitles:	English
Categories:	Books > Reference & Interdisciplinary > Communication studies > Information theory > Cybernetics & systems theory Books > Science & Mathematics > Mathematics > Geometry > Algebraic geometry Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
LSN:	1-4614-2767-3
Barcode:	9781461427674

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