| Description |
1 online resource (xix, 326 pages) : illustrations |
| Contents |
Preface; About the Authors; 1 Concepts and Definitions; 1.1 Mechanical Design: Synthesis versus Analysis; 1.2 Multibody Systems and Mechanisms; 1.3 Planar, Spherical, and Spatial Mechanisms; 1.4 Mechanical Body; 1.5 Mechanical Chain and Kinematic Inversion; 1.6 Joints and Joint Elements; 1.7 The Six Lower-Pairs; 1.8 Higher-Pairs and Kinematic Equivalence; 1.9 Restraints versus Constraints; References; 2 Topology and Kinematic Architecture; 2.1 Introduction; 2.2 The Incidence Matrix; 2.3 Connectedness and Assemblies; 2.4 Kinematic Loops; 2.5 Kinematic Paths; References; Problems |
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3 Transformation Matrices in Kinematics3.1 Introduction; 3.2 Homogeneous Coordinates of a Point; 3.3 Line Coordinates and Plücker Vectors; 3.4 Three-dimensional Orientation; 3.5 Transformation of Coordinates; 3.6 Positions, Postures, and Displacements; 3.7 Eulers and Chasles' Theorems; 3.8 Euler-Rodrigues Parameters; 3.9 Displacement of Lines; 3.10 Quaternions; References; Problems; 4 Modeling Mechanisms and Multibody Systems with Transformation Matrices; 4.1 Introduction; 4.2 Body Coordinate Systems; 4.3 Joint and Auxiliary Coordinate Systems; 4.4 Specifying Data for a Coordinate System |
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4.5 Modeling Dimensional Characteristics of a Body4.6 Modeling Joint Characteristics; 4.6.1 Helical Joint; 4.6.2 Revolute Joint; 4.6.3 Prismatic Joint; 4.6.4 Cylindric Joint; 4.6.5 Spheric Joint; 4.6.6 Flat Joint; 4.6.7 Rigid Joint; 4.6.8 Open Joint; 4.6.9 Parallel-Axis Gear Joint; 4.6.10 Involute Rack-and-Pinion Joint; 4.6.11 Straight-Tooth Bevel-Gear Joint; 4.6.12 Point on a Planar-Curve Joint; 4.6.13 Line Tangent to a Planar-Curve Joint; Problems; 6 Differential Kinematics and Numeric Solution of Posture Equations; 6.1 Introduction; 6.2 Differential Kinematics of a Helical Joint |
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6.3 Derivative Operator Matrices6.3.1 Helical Joint; 6.3.2 Revolute Joint; 6.3.3 Prismatic Joint; 6.3.4 Cylindric Joint; 6.3.5 Spheric Joint; 6.3.6 Flat Joint; 6.3.7 Rigid Joint; 6.3.8 Open Joint; 6.3.9 Parallel-axis Gear Joint; 6.3.10 Involute Rack-and-Pinion Joint; 6.3.11 Straight-tooth Bevel-gear Joint; 6.3.12 Point on a Planar-Curve Joint; 6.3.13 Line Tangent to a Planar-Curve Joint; 6.4 Screw Axes and Ball Vectors for Differential Displacements; 6.5 Numeric Solution of Kinematic Posture Equations; 6.5.1 Solution for a Nearby Posture; 6.5.2 Avoiding Convergence to a False Solution |
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6.5.3 Numeric Solution of the Loop-closure Equation6.6 Identification of Generalized Coordinates; 6.7 Scaling Internal Length Units; 6.8 Quality Index; 6.9 Convergence and Robustness; References; Problems; 7 Velocity Analysis; 7.1 Introduction; 7.2 Definition of Velocity; 7.3 First Geometric Derivatives of Joint Variables; 7.4 Velocities of Joint Variables; 7.5 First Geometric Derivatives of Body Postures; 7.6 Velocities of Bodies; 7.7 First Geometric Derivatives of Point Positions; 7.8 Velocities of Points; References; Problems; 8 Acceleration Analysis; 8.1 Definition of Acceleration |
| Summary |
"This book is an integrated approach to kinematic and dynamic analysis. The matrix techniques presented are general and fully applicable to two- or three-dimensional systems. They lend themselves to programming and digital computation and can be the basis of a usable tool for designers. The techniques have broad applicability to the design analysis of all multibody mechanical systems. The more powerful and more flexible the approach, and the less specialization and reprogramming required for each application, the better. The matrix methods presented have been developed using these as primary goals. Although the matrix methods can be applied by hand to such problems as the slider-crank mechanism, this is not the intent of this text, and often the rigor required for such an attempt becomes quite burdensome in comparison with other techniques. The matrix methods have been extensively tested, both in the classroom and in the world of engineering industry"-- Provided by publisher |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Print version record |
| Subject |
Machinery, Dynamics of.
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Multibody systems -- Mathematical models
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Dynamics, Rigid -- Mathematics
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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TECHNOLOGY & ENGINEERING -- Machinery.
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Dynamics, Rigid -- Mathematics
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Machinery, Dynamics of
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| Form |
Electronic book
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| Author |
Sheth, Pradip N., author.
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Ravani, Bahram, 1953- author.
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| ISBN |
9781107341159 |
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1107341159 |
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113903233X |
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9781139032339 |
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9781299546158 |
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1299546153 |
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9781107344907 |
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1107344905 |
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9781107347403 |
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1107347408 |
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