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＜電子ブック＞
Geometric Design of Linkages / by J. Michael McCarthy, Gim Song Soh
(Interdisciplinary Applied Mathematics. ISSN:21969973 ; 11)

版	2nd ed. 2011.
出版者	(New York, NY : Springer New York : Imprint: Springer)
出版年	2011
本文言語	英語
大きさ	XXVIII, 448 p : online resource
著者標目	*McCarthy, J. Michael author Soh, Gim Song author SpringerLink (Online service)
件　名	LCSH:System theory LCSH:Control theory LCSH:Control engineering LCSH:Robotics LCSH:Automation LCSH:Algebraic geometry FREE:Systems Theory, Control FREE:Control, Robotics, Automation FREE:Control and Systems Theory FREE:Algebraic Geometry
一般注記	Introduction -- 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   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) HTTP:URL=https://doi.org/10.1007/978-1-4419-7892-9

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