By Jingshan Zhao
Advanced idea of Constraint and movement research for robotic Mechanisms presents an entire analytical method of the discovery of latest robotic mechanisms and the research of present designs in keeping with a unified mathematical description of the kinematic and geometric constraints of mechanisms.
Beginning with a excessive point creation to mechanisms and parts, the ebook strikes directly to current a brand new analytical idea of terminal constraints to be used within the improvement of recent spatial mechanisms and buildings. It sincerely describes the applying of screw conception to kinematic difficulties and offers instruments that scholars, engineers and researchers can use for research of severe components corresponding to workspace, dexterity and singularity.
- Combines constraint and loose movement research and layout, supplying a brand new method of robotic mechanism innovation and improvement
- Clearly describes using screw conception in robotic kinematic research, taking into account concise illustration of movement and static forces compared to standard research methods
- Includes labored examples to translate conception into perform and reveal the appliance of recent analytical how you can serious robotics problems
Read or Download Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms PDF
Best machinery books
Fahrzeuggetriebe : Grundlagen, Auswahl, Auslegung und Konstruktion
Die Kombination aus wissenschaftlicher Aktualität, Seriosität und Praxisbezug - für den Ingenieur die Grundlage innovativer Entwicklungen - ist mit diesem Buch gewährleistet. Es stellt den Entwicklungsprozess für Fahrzeuggetriebe vollständig dar, unter Berücksichtigung von handgeschalteten, teil- und vollautomatisierten PKW- und NKW-Getrieben, NKW-Gruppengetrieben, Nebenabtrieben, Verteilergetrieben für Allradantrieb und Endabtriebe.
Reconstruction Designs of Lost Ancient Chinese Machinery
Historical China used to be awesome in mechanical expertise ahead of the fifteenth century. a number of inventive machines have been invented. despite the fact that, because of incomplete documentation and lack of accomplished gadgets, lots of the unique machines can't be demonstrated and plenty of of the innovations didn't go right down to later generations.
Surveying the applied sciences used to meet the world's call for for open, effective, and fresh electrical energy, Variable velocity turbines offers an in-depth exam of variable-speed turbines for either stand-alone and grid-connected purposes. a part of the electrical turbines instruction manual, Two-Volume Set, this paintings deals authoritative, tightly targeted remedy of the topologies, regular country and transients modeling, functionality, keep an eye on, layout, and checking out of stand-alone and grid-connected turbines working at variable speeds.
- Roloff / Matek Maschinenelemente: Normung, Berechnung, Gestaltung
- Advances in Ceramic Matrix Composites
- ENGINE AND TRACTOR POWER
- Fluid machinery : application, selection, and design
- Loadings in Thermal Barrier Coatings of Jet Engine Turbine Blades: An Experimental Research and Numerical Modeling
- Rehabilitation of Pipelines Using Fiber-reinforced Polymer (FRP) Composites
Extra resources for Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms
Example text
123) is superimposed with the axes of $1 and $2 . When k2 = −k1 = 0,k1 + k2 = 0. 123) can be simplified as $ = k1 h 1 − h 2 0 . 124) Because $1 and $2 are linearly independent, h 1 = h 2 . 124) indicates that any improper screw generated by $1 and $2 is only determined T by the unit screw $u = 0 sT , which proves that there is only one improper screw in the two-order screw system generated by $1 and $2 . All of the screws in a two-order screw system are located on an irregular spatial surface, called a cylindroid.
S. L. J. Feng, Synthesis of rectilinear motion generating spatial mechanism with application to automotive suspension, Journal of Mechanical Design 130 (6) (2008) 065001-1–065001-8. S. Z. Fu, K. J. Feng, Mobility properties of a schoenflies type parallel manipulator, Robotics and Computer-Integrated Manufacturing 22 (2) (2006) 124–133. S. L. , Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace, Robotics and Computer-Integrated Manufacturing 23 (1) (2007) 38–46.
Das, An analytical method for the identification of redundant constraints in multiple-loop spatial mechanisms, Journal of Mechanical Design, Transactions of the ASME 115 (1993) 322–330. J. W. Lee, The transmissivity and manipulability of spatial mechanisms, Journal of Mechanical Design, Transactions of the ASME 116 (1994) 37–143. [84] T. G. J. S. Wang, A general and novel approach for parameter identification of 6-DOF parallel kinematic machines, Mechanism and Machine Theory 40 (2) (2005) 219–239.