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McCarthy J.M., Wiggins S. (Ed), Sirovich L. — Geometric Design of Linkages
McCarthy J.M., Wiggins S. (Ed), Sirovich L. — Geometric Design of Linkages



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Название: Geometric Design of Linkages

Авторы: McCarthy J.M., Wiggins S. (Ed), Sirovich L.

Аннотация:

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.


Язык: en

Рубрика: Математика/

Статус предметного указателя: Готов указатель с номерами страниц

ed2k: ed2k stats

Издание: 1st edition

Год издания: 2000

Количество страниц: 320

Добавлена в каталог: 12.05.2008

Операции: Положить на полку | Скопировать ссылку для форума | Скопировать ID
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Предметный указатель
3CC platform      253
3R open chain, planar      17
3R open chain, spherical      119
3R wrist      193
3RR platform, constraint equations      286
3RR platform, planar      103
3RR platform, spherical      183
3RRRS platform      272
4C closed chain, design      262
4C closed chain, position analysis      207
4R closed chain, constraint equation      285
4R planar closed chain, as a 4C      211
4R planar closed chain, as an RSSR      204
4R planar closed chain, classification      32
4R planar closed chain, coupler curve      27
4R planar closed chain, coupler velocity ratio      43
4R planar closed chain, design      66
4R planar closed chain, Grashof      33
4R planar closed chain, kite      35
4R planar closed chain, mechanical advantage      45
4R planar closed chain, nonGrashof      33
4R planar closed chain, output velocity ratio      41
4R planar closed chain, parallelogram      35
4R planar closed chain, position analysis      23
4R planar closed chain, range of movement      29
4R planar closed chain, rhombus      35
4R planar closed chain, velocity analysis      41
4R spatial closed chain, design      262
4R spatial closed chain, position analysis      205
4R spherical closed chain, as an RSSR      204
4R spherical closed chain, classification      130
4R spherical closed chain, coupler velocity ratio      135
4R spherical closed chain, design      183
4R spherical closed chain, Grashof      130
4R spherical closed chain, mechanical advantage      137
4R spherical closed chain, nonGrashof      131
4R spherical closed chain, output velocity ratio      135
4R spherical closed chain, position analysis      120
4R spherical closed chain, range of movement      126
4R spherical closed chain, spherical image of a 4C      209
4R spherical closed chain, velocity analysis      134
5TS platform linkage      7 211
5TS platform linkage, design      262
6TPS platform      272
Action screw      269
Actuator screw      269
Ahlers, S. G.      264
Altmann, S.L.      160
Angular velocity      36 133 202
Angular velocity, matrix      133 200
Angular velocity, vector      133 200
Assemblies      34
Axis of a composite rotation      154
Axode      201
Ball, R.S.      283
Ball-in-slot joint      2
Ball-in-socket joint      2
Bennett’s condition      205
Bennett’s linkage      189 205 260
Bennett’s linkage, design      262
Bennett’s linkage, position analysis      205
Beyer, R.      67
Biquadratic equation      286
Biquadratic equation, simultaneous solution      287
Bodduluri, R.M.C.      184
Bottema, O.      84 160 238
Branching problem      109 183
Burmester axes      181
Burmester lines      248
Burmester points      61
Burmester, L.      67 96
Burmester-Roth theorem      176
Burmester’s theorem      96
Burmester’s theorem for circle points      100
C-joint      2
Cardinal point      68
Cayley’s formula      146
CC open chain, design equations      246
CC open chain, design equations, five positions      247
CC open chain, direction equations      246
CC open chain, geometry      245
CC open chain, moment equations      247
CC open chain, position analysis      198
Cent rode      39
Cent rode, fixed      47
Cent rode, moving      47
Center axis      168 176
center point      54 90 96
Center-axis cone      175
Center-axis cone, parameterized      177
Center-axis theorem      168
Center-point curve      60 95
Center-point curve, parameterized      98
Center-point theorem      54 90
Central Axis      250
Central-axis congruence      251 252
Central-axis theorem      250
Chebyshev’s linkage      9
Chen, P.      264
Cheng, H.      160
Chiang, C.H.      125 132 138 187
Circle-point curve      100
Circling-axis cone      178
Circling-axis cone, parameterized      180
Circular cubic      98
Clifford, W.K.      236
Closed chain      4
Collins, C.L.      266
Common normal to two lines      190
Compatibility platform, planar      103
Compatibility platform, spatial      253
Compatibility platform, spherical      182
Complementary axes      176 250
Complementary-axis quadrilateral      176 179
Complementary-screw quadrilateral      250
Composite axis theorem      157
Composite pole theorem      80
Composite screw axis theorem      235
Configuration space      3
Construction for a pole      51
Construction for corresponding points      50
Construction to duplicate an angle      289
Construction to reflect a point      290
Construction, center axis      177
Construction, center point      60 98
Construction, central axis      251
Construction, circumscribing circle      288
Construction, perpendicular bisector      288
Construction, planar PR, four positions      63
Construction, planar PR, three positions      62
Construction, planar PR, two positions      62
Construction, planar RP      64
Construction, planar RP, four positions      65
Construction, planar RP, three positions      64
Construction, planar RP, two positions      64
Construction, planar RR, five positions      60
Construction, planar RR, four positions      59
Construction, planar RR, three positions      57
Construction, planar RR, two positions      55
Coordinate planar displacements      13
Coordinate rotations      116
Coordinate screw displacements      191
Couple      138
Coupler      18
Craig, J.J.      46 138 214 270
Cramer’s Rule      94 287
Crane, C.D.      138 160 214 293
Crank      16
Crank-rocker linkage, planar      33
Crank-rocker linkage, spherical      130
Crossley, F.R.E.      11
Cylindric joint      2
Cylindroid      257 258
Dandurand, A.      266
Degree of constraint      7
Degree of freedom      2 3
Denavit — Hartenberg convention      192
Denavit, J.      11 67 84
Dimarogonas, A.      11
Dimentberg, F.M.      238
Direct kinematics      212
Displacement pole      49 76
Displacement pole, construction      77
Displacement pole, relative      78
Displacement pole, relative inverse      79
Displacement, change coordinates      73
Displacement, composition      73 216 217
Displacement, inverse      73
Displacement, planar      48 70 71
Displacement, rotational      153
Displacement, spatial      140 143 215
Displacement, spherical      163
Distance formula      69 140
Dobrovolskii, V.V.      187
Dobryankyj, L.      11
Double-crank linkage, planar      33
Double-crank linkage, spherical      131
Double-rocker linkage, planar      33
Double-rocker linkage, spherical      131
Dowler, H.J.      187
Dual angle      223
Dual angle, cosine of      223
Dual angle, sine of      223
Dual angle, trigonometric functions of      297
Dual displacement angle      230
Dual magnitude      221
Dual multiplication      296
Dual number      221
Dual number, function of      296
Dual quaternion      236
Dual quaternion, conjugate      236
Dual quaternion, norm      236
Dual quaternion, product      236
Dual quaternion, unit      236
Dual scalar      296
Dual scalar product      222
Dual vector      221 248 296
Dual vector algebra      221 297
Dual vector product      222 225
Duffy, J.      138 160 214 270 283 293
Dyad triangle, planar      53 88 299
Dyad triangle, spatial      248 302
Dyad triangle, spatial, dual quaternion      257
Dyad triangle, spherical      166 301
Dyad triangle, spherical, quaternion equation      167
Elliptic trammel      46
Erdman, A.G.      46 67 84 114
Euclidean metric      69 140
Faugere, J.C.      214
Fichter, E.F.      283
Filemon, E.      109
Filemon’s construction, planar      110
Filemon’s construction, spherical      184
Fischer, I.S.      238
Fixed axis      165 245 254
Fixed pivot      53 87 242
Floating link      16
Folding linkages, planar 4R      35
Folding linkages, slider-crank      20
Folding linkages, spherical 4R      133
Four-bar linkage design      65 109
Freudenstein, F.      9 11 114 236 238
Function generation      8 112 186
Function generator      109 263
Function generator, planar 4R      112
Function generator, planar slider-crank      113
Function generator, spatial RSSP      263
Function generator, spatial RSSR      263
Function generator, spherical 4R      183 186
Furlong, T.      187
Geometric design      1
Gibson, C.G.      283
Grashof double-rocker, planar      33
Grashof double-rocker, spherical      131
Grashof linkage, planar 4R      34
Grashof linkage, planar slider-crank      20
Grashof linkage, spherical 4R      132
Gupta, K.C.      160
Gustafson, J.E.      114
Hall, A.S.      67
Hamilton, W.R.      157
Harrisberger, L.      11
Hartenber, R.S.      84
Hartenberg, R.S.      11 67
Helix      281
Helix joint      2
Holonomic constraint      3
Homogeneous transform      216
Hooke’s coupling      122
Huang, C.      258
Hunt, K.H.      29 138 214 258 279 283
Husty, M.L.      214
Image pole      51
Infinitesimal work      270
Innocenti, C.      114 264
Instant center      37
Instantaneous rotation axis      136
Instantaneous screw axis      201
Inverse kinematics      193
Inverse kinematics, 3R wrist      194
Inverse kinematics, spatial CC      199
Inverse kinematics, spatial RS      195
Inverse kinematics, spatial TS      197
Inverse kinematics, TPS robot      197
Inverse kinematics, TRS robot      198
Isometry, planar      69
Isometry, spatial      140
Jacobian, planar RR      38
Jacobian, platform linkage      213
Jacobian, platform manipulator      271 274
Jacobian, screw      270
Jacobian, spatial open chain      202 270
Jacobian, spherical RR      134
Jessop, C.M.      267
Joint      2
Joint screw      269
Kaufman, R.E.      114
Kennedy’s theorem, planar      43
Kennedy’s theorem, spherical      137
Kimbrell, J.T.      67
Kinematic synthesis      1
Kinematics equations      37 134 189 193 201
Kinematics equations, 3R wrist      193
Kinematics equations, planar 3R      17
Kinematics equations, planar PR      15
Kinematics equations, planar RR      16 298
Kinematics equations, spatial 4C      208
Kinematics equations, spatial CC      199 301
Kinematics equations, spatial RR, RP, PR, PP      199
Kinematics equations, spatial RS      195
Kinematics equations, spatial TS      196
Kinematics equations, spherical RR      118 300
Kinematics equations, TPS robot      197
Kinematics equations, TRS robot      198
Kinzel, G.L.      46 114
Kota, S.      11
Krishnaprasad, P.S.      46
Kumar, V.      270 283
Larochelle, P.M.      46 187
Lazard, D.      214
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