000 03749nam a22005175i 4500
001 978-1-4419-7892-9
003 DE-He213
005 20140220083726.0
007 cr nn 008mamaa
008 101111s2011 xxu| s |||| 0|eng d
020 _a9781441978929
_9978-1-4419-7892-9
024 7 _a10.1007/978-1-4419-7892-9
_2doi
050 4 _aQ295
050 4 _aQA402.3-402.37
072 7 _aGPFC
_2bicssc
072 7 _aSCI064000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a519
_223
100 1 _aMcCarthy, J. Michael.
_eauthor.
245 1 0 _aGeometric Design of Linkages
_h[electronic resource] /
_cby J. Michael McCarthy, Gim Song Soh.
264 1 _aNew York, NY :
_bSpringer New York,
_c2011.
300 _aXXVIII, 448 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aInterdisciplinary Applied Mathematics,
_x0939-6047 ;
_v11
505 0 _aIntroduction -- Analysis of Planar Linkages -- Graphical Synthesis in the Plane -- Planar Kinematics -- Algebraic Synthesis of Planar -- Multiloop Planar Linkages -- Analysis of Spherical Linkages -- Spherical Kinematics -- Algebraic Synthesis of Spherical Chains -- Multiloop Spherical -- Analysis of Spatial Chains -- Spatial Kinematics -- Algebraic Synthesis of Spatial -- Synthesis of Spatial Chains with Reachable Surface -- Clifford Algebra Synthesis of Spatial Chains -- Platform Manipulators -- References.
520 _a  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)
650 0 _aMathematics.
650 0 _aGeometry, algebraic.
650 0 _aSystems theory.
650 1 4 _aMathematics.
650 2 4 _aSystems Theory, Control.
650 2 4 _aRobotics and Automation.
650 2 4 _aControl.
650 2 4 _aAlgebraic Geometry.
700 1 _aSoh, Gim Song.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9781441978912
830 0 _aInterdisciplinary Applied Mathematics,
_x0939-6047 ;
_v11
856 4 0 _uhttp://dx.doi.org/10.1007/978-1-4419-7892-9
912 _aZDB-2-SMA
999 _c105882
_d105882