“Kinematics of General Spatial Mechanical Systems” by M. Kemal Özgören provides an in-depth guide to the analysis and understanding of spatial mechanisms, manipulators and other mechanical systems. This book focuses on the mathematical description of spatial kinematic chains and their properties, as well as on the analytical and semi-analytical approaches to solving kinematic equations.
The author begins by introducing the fundamental concepts of spatial kinematics and their applications in engineering. He then presents a comprehensive overview of the mathematics and theoretical foundations of spatial kinematics, including necessary theorems and formulas, as well as methods for analyzing and solving kinematic problems.
One of the key features of this book is its focus on the kinematic analysis of links and joints, including rolling contact joints. The author provides detailed descriptions of these joints, and explains how they affect the kinematics of the overall system.
Another important aspect of the book is the writing of kinematic chain equations and loop equations, which are essential for analyzing spatial mechanisms and manipulators. The author explains the principles of writing these equations, and provides examples of their use in real-world applications.
Finally, the book provides detailed explanations of the solution methods for kinematic equations, both in the direct and inverse sense. The author also discusses the multiplicity and singularity analysis, which are important concepts for understanding the behavior of spatial mechanisms under certain conditions.
Overall, “Kinematics of General Spatial Mechanical Systems” is a comprehensive guide to understanding and analyzing spatial mechanical systems, providing readers with a thorough understanding of the mathematical foundations of spatial kinematics as well as practical solutions to real-world problems.
Электронная Книга «Kinematics of General Spatial Mechanical Systems» написана автором M. Kemal Ozgoren в году.
Минимальный возраст читателя: 0
Язык: Английский
ISBN: 9781119195764
Описание книги от M. Kemal Ozgoren
Guide to kinematic theory for the analysis of spatial mechanisms and manipulators Kinematics of General Spatial Mechanical Systems is an effective and proficient guide to the kinematic description and analysis of the spatial mechanical systems such as serial manipulators, parallel manipulators and spatial mechanisms. The author highlights the analytical and semi-analytical methods for solving the relevant equations and considers four main elements: The mathematics of spatial kinematics with the necessary theorems, formulas and methods; The kinematic description of the links and joints including the rolling contact joints; Writing the kinematic chain and loop equations for the systems to be analyzed; and Solving these equations for the unspecified variables both in the forward and inverse senses together with the multiplicity and singularity analyses. Comprehensive in scope, the book covers topics ranging from rather elementary subjects such as spatial mechanisms with single degree of freedom to more advanced topics such as serial manipulators including redundant and deficient ones, parallel manipulators, and non-holonomic spatial cam mechanisms that involve rolling without slipping motions. The author presents an effective and accessible symbolic manipulation method making it possible to obtain neat and transparent expressions that describe the systems showing all the kinematic details. Such expressions readily lead to analytical or semi-analytical solutions. They also facilitate the identification and analysis of the multiplicities and singularities. This all-time beneficial book: Provides an easy-to-use systematic formulation method that is applicable to all sorts of spatial machanisms and manipulators Introduces a symbolic manipulation method, which is effective and straightforward to use, so that kinematic relationships can be simplified by using all the special geometric features of the system Offers an accessible format that uses a systematic and easy-to-conceive notation which has proven successful Presents content written by an author who is a renowned expert in the field Includes an accompanying website Written for academicians, students, engineers, computer scientists and any other people working in the area of spatial mechanisms and manipulators, Kinematics of General Spatial Mechanical Systems provides a clear notation, formulation, and a logical approach to the topic and offers a fresh presentation of challenging material.
