Geometric design of linkages
algebraic design theoryarticulated systemscenter axis theoremdual vector algebrageometric principlesgraphical methodsplanar chainsplanar linkage synthesisPlücker line coordinatesscrew trianglespatial linkage designspherical linkage designtheory of planar displacements
Rigidity and flexibility of structures (aspects of discrete geometry) (52C25) Research exposition (monographs, survey articles) pertaining to differential geometry (53-02) Differential geometric aspects in kinematics (53A17) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55)
The book presents a mathematical study of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the motion of a workpiece, or end-effector, of the system. The formulated design problem is purely geometric. The text blends two approaches to this design problem in order to develop the intuition needed to go on from planar to spatial linkage design. One approach considers the geometric configuration of points and lines generated as a moving body is displaced through a finite set of positions. This is the foundation for graphical methods for planar linkage synthesis which can be generalized to spherical and spatial linkage design. The second approach focuses directly on solving nonlinear constraint equations that characterize a mechanical connection. The first chapter gives an overview of articulated systems. The generic mobility of a linkage is defined in the case of planar, spherical and spatial chains. The second chapter presents analysis of planar chains, details of their motion, and classification. Chapter 3 develops the graphical design theory for planar linkages and introduces geometric principles that are used in the remainder of the book. Chapter 4 presents the theory of planar displacements, and chapter 5 derives the algebraic design theory. The properties of spherical linkages and details of the geometric theory of the spatial rotations are introduced in chapters 6 and 7. Chapter 8 describes the design theory of these linkages, which is analogous to planar theory, whereas chapter 9 introduces the analysis of spatial linkages including open chains that are closely related to robot manipulators. The complexity of spatial linkages requires the introduction of some new techniques. The geometry of spatial displacement is topic of chapter 10. Here the screw triangle and center axis theorem are formulated using rather lines than points, and dual vector algebra provides vector operations for calculations of Plücker line coordinates. Chapter 11 presents the design theory for spatial chains, and chapter 12 treats the geometry of linear combinations of lines that arise in the construction of spatial linkage system. At the end, some mathematical background is given in five appendices. The book will be useful to specialists in mathematics, engineering and computer science dealing with the mathematical modelling of robots and other articulated mechanical systems.
- Geometric design of linkages.
- Geometric design of interference-free planar linkages
- Geometry and dynamics of planar linkages
- Geometric structures as design approach
- Complex geometry of polygonal linkages
- Polyhedral Linkages
- ON THE NUMBER OF TRIANGULATION SIMPLEXES
- Circular configurations of polygonal linkages
- Configuration spaces of mechanical linkages
- A general methodology for mobility analysis of mechanisms based on constraint screw theory
- Rodrigues' spatial kinematics
- On the designation of joints.
- Geometric design of roller drives with cylindrical meshing elements
- Geometric design of interference-free planar linkages
- Comparative analysis and synthesis of six-bar mechanisms formed by two serially connected spherical and planar four-bar linkages
- Problems of locus solved by mechanisms theory
- Geometric and kinematic analysis of a seven-bar three-fixed-pivoted compound-joint mechanism
- A general method for the optimal synthesis of mechanisms using prescribed instant center positions
- An automated method for type synthesis of planar linkages based on a constrained subgraph isomorphism detection
- Linear algebra and numerical algorithms using dual numbers
- The synthesis of six-bar linkages as constrained planar 3R chains
- A unified input-output analysis of four-bar linkages
- Analysing singularities of a benchmark problem
- Polyspherical coordinate systems on orbit spaces with applications to biomolecular shape
- Disteli diagram of dual hyperbolic spherical motion in dual Lorentzian space
- Geometric design of RRP, RPR and PRR serial chains
- Linear dual algebra algorithms and their application to kinematics
- Numerical algebraic geometry and algebraic kinematics
- scientific article; zbMATH DE number 3843255 (Why is no real title available?)
- Introduction to the theory of mechanisms
- Kinematics. Theory and applications
- Development of a spherical linkage mechanism with the aid of the dynamic spatial geometry program ``GECKO
- Mathematical model of multiline mechanisms
- scientific article; zbMATH DE number 65213 (Why is no real title available?)
- scientific article; zbMATH DE number 1131824 (Why is no real title available?)
- Contortion and Formation Structures in the Mappings between Robotic Jointspaces and Workspaces
- An algebraic version of the input-output equation of planar four-bar mechanisms
- Overview and preliminaries
- Constraint varieties in mechanism science
- Handbook of geometric constraint systems principles
- ON THE NUMBER OF TRIANGULATION SIMPLEXES
- The forward kinematics of dual rolling contact of one dual unit sphere on another with dual Darboux frame based equation
- Kinematics of Mechanical Systems
- Algebraic Geometry and Kinematics
- Kinematic differential geometry and saddle synthesis of linkages
- Line-symmetric motions with respect to reguli
- Geometric design of linkages.
- A loop-by-loop defect rectification procedure for optimal synthesis of Stephenson III path generators
- A parametric study on the dynamic response of planar multibody systems with multiple clearance joints
- A complex solution framework for the kinetostatic synthesis of a compliant four-bar mechanism
- Geometric methods and formulations in computational multibody system dynamics
- Computer modelling and geometric construction for four-point synthesis of 4R spherical linkages
- A novel family of linkages for advanced motion synthesis
- The algebraic synthesis of a spatial TS chain for a prescribed acceleration task
- Pole arrangements that introduce prismatic joints into the design space of four- and five-position rigid-body synthesis
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