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Matrix methods in the design analysis of mechanisms and multibody systems /
"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 tec...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Cambridge :
Cambridge University Press,
2013.
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- 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.
- 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.
- 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.
- 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.
- 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.