Geometric Design of Linkages (Interdisciplinary Applied Mathematics) | 
 enlarge | Author: J. Michael Mccarthy
Publisher: Springer
Category: EBooks
List Price: $99.00
Buy New: $79.20
You Save: $19.80 (20%)
Sales Rank: 83792
Format: Kindle Book
Media: Kindle Edition
Edition: 1
Pages: 320
Number Of Items: 1
Dewey Decimal Number: 621.815
Publication Date: April 26, 2000
Availability: Usually ships in 24 hours
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Product Description
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. 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 modelling of robotics and other articulated mechanical systems.
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