Smart Kinematics for Modern Engineering Students is an essential reference on basic kinematics. The book provides detailed knowledge on coordinate transformations for matrix calculations, followed by information about different configurations in component pairs and joints. Readers will learn about the basic mechanical engineering methods used to design components for systems with moving parts along with various practical applications of these concepts.
Key features:
- Provides-In-depth knowledge of 3D vector calculations in kinematics
- Includes descriptions and depictions of major joints commonly used in engineering designs and applications
- Discusses common methods of optimization for solving multivariable systems of highly nonlinear equations using displacement models
- Presents practical examples of analysis applied to commonly used mechanical system
- 6 DOF robotic arm and moving platform
- A generic Light Manufacturing Tool (LMT)
- Phantom DOF devices
- Temporomandibular joint (TMJ) as a biomechanical joint
- Include scientific references
- The material in this book will be helpful to undergraduate and graduate engineers who are required to understand knowledge about modern methods in mechanical engineering, including prerequisite courses in advanced linear algebra, kinematics and complex systems.
Readership:
Engineering students at university level, and professionals involved in complex mechanical system design.Table of Contents
FOREWORD I- FOREWORD II
- PREFACE
- DEDICATION
- INTRODUCTION
- INTRODUCTION
- POINTS IN SPACE
- Radius Vectors
- Directional Vectors
- TRANSFORMATION OF COORDINATES (COORDINATE
- TRANSFORMATION)
- INTRODUCTION TO MATRIX AND VECTOR OPERATIONS
- THREE-DIMENSIONAL SPACE
- MATRIX OF HOMOGENEOUS COORDINATE TRANSFORMATIONS
- REFERENCE AND RELATIVE COORDINATE SYSTEMS
- ORIENTATION AND DEGREES OF FREEDOM OF AN OBJECT IN 3D SPACE
- TYPES OF COORDINATE SYSTEMS
- REPRESENTATION OF SURFACES AND CURVILINEAR
- COORDINATES
- TANGENT AND NORMAL VECTORS TO A SURFACE
- TANGENCY OF SURFACES AT GIVEN POINTS
- CONCLUSION
- REFERENCES
- INTRODUCTION
- KINEMATIC PAIRS OR JOINTS
- ABSOLUTE AND RELATIVE MOVEMENT WITHIN KINEMATIC PAIRS AND LINKS
- DEGREES OF FREEDOM AS THE MOBILITY OF THE JOINTS
- MECHANISMS
- THE DISPLACEMENT MODEL
- Closed Vector Contour Method
- Simple Graphics for the Closed Contour Method
- Matrix Methods for the Closed Contour Method
- Open Vector Contour Method
- GENERIC CONFIGURATION OF A FOUR-BAR LINKAGE
- PHANTOM DOF VERIFICATION
- The” con”
- The “pro”
- FOCUSED FOUR-BAR LINKAGE
- Four-Bar Linkage - Another Example
- POVODKOVIY MECHANISM AS AN EXAMPLE OF TLMWHIP
- FIVE-BY-FIVE METHOD
- THREE-BY-THREE METHOD
- CONCLUSION
- REFERENCES
- MECHANISMS WITH DIFFERENT DESIGN CONSIDERATIONS………………………………
- INTRODUCTION
- Mechanism 1
- Coordinate Systems
- Displacement Model for Mechanism 1
- Mechanism 2
- Displacement Model for Mechanism 2
- CONCLUSION
- REFERENCES
- INTRODUCTION
- OBJECTIVE FUNCTION
- PROBE AND PROBE OF DERIVATIVES
- GRADIENT-BASED METHODS
- LINEAR APPROXIMATION
- DAMPED METHOD OF LEAST SQUARES
- ADVANCED DLSM
- Analysis of Discussed Methods
- Effectiveness of Optimization Methods
- LSM Method (or nm, if m=n)
- Gradient Method (GM)
- DLSM
- SINGULAR VALUE DECOMPOSITION
- ONE-PARAMETER OPTIMIZATION (TRAJECTORY STEP VS.
- DAMPING ON THE TRAJECTORY
- SHAPE AND CONTOURS OF OBJECTIVE FUNCTION IN N+1 SPACE
- TWO-DIMENSIONAL EXAMPLE
- EXAMPLES OF OPTIMIZATION WITH A SINGULAR MATRIX A
- MATRIX WITH SINGULARITY
- EXAMPLE - SEARCH PRICE
- EXAMPLE - SPECIFIC TECHNIQUE TO SOLVE A SYSTEM OF LINEAR
- EQUATIONS
- Public Sub get_probe (X, F, n, m)
- End Sub
- Public Sub get_der_matA(X, F, n, m, matA, mat_ata)
- Call get_probe(X, F, n, m)
- Call get_probe(X, F, n, m)
- End Sub
- APPLICATION NOTES
- Subroutine Probe (X, F)
- Exit Sub
- Subroutine Probe (X, F)
- Exit Sub
- Subroutine Probe (X, F)
- Exit Sub
- CONCLUSION
- REFERENCES
- INTRODUCTION
- DEGREES OF FREEDOM IN DIFFERENT DOMAINS
- PARAMETERIZATION
- DIRECT AND INVERSE TASKS
- JACOBIAN METHODS
- DESIGN CONSIDERATIONS
- DOMAIN MAPPING
- CROSS-COUPLING AND INSTABILITY
- CROSS-COUPLING AND CONTROL STRATEGY
- TRAJECTORY CONTROL TECHNIQUES
- CUBIC SPLINE
- CONCLUSION
- REFERENCES
- MECHANISM
- INTRODUCTION
- ROBOT ARM MOTION PARAMETERS
- DIRECT TASK
- Inverse Task (Method One)
- Inverse Task (Method Two)
- COMPARING THE INVERSE TASK METHODS
- ANOTHER GENERIC VIEW OF DIRECT AND INVERSE TASKS
- JACOBIAN METHODS
- CONCLUSION
- REFERENCES
- INTRODUCTION
- GENERAL ANALYSIS OF GANTRY SYSTEM KINEMATICS
- COORDINATE SYSTEMS FOR A 5 DOF SYSTEM
- SINGULARITY CONE
- EXTRA DOF
- VELOCITY MODEL
- TRAJECTORY CONTROL AND SINGULARITY ISSUES
- STRATEGIES FOR SINGULARITY AND VELOCITY CONTROL
- PHANTOM DOF
- AN ILLUSTRATION OF PERFORMANCE DEGRADATION DUE TO
- SINGULARITY PROBLEMS
- CONCLUSION
- REFERENCES
- INTRODUCTION
- TESTING PLATFORMS
- COORDINATE SYSTEMS
- DISPLACEMENT MODEL
- JACOBIAN AND VELOCITY MODEL
- INVERSE (FEEDBACK) PROBLEM
- CONCLUSION
- REFERENCES
- FREEDOM SYNERGISTIC SYSTEM
- INTRODUCTION
- ACTUATOR AND WORLD DOMAINS
- COORDINATE SYSTEMS
- MOTION EQUATIONS
- DISPLACEMENT MODEL
- MOTION STRATEGY FOR A DRIVING SIMULATOR WITH NINE
- DEGREES OF FREEDOM
- CONCLUSION
- REFERENCES
- INTRODUCTION
- MACHINE CONFIGURATION
- CALIBRATION
- THREE DOF SYSTEM
- MAIN COORDINATE SYSTEMS
- STROKE (DISPLACEMENT) VS. LOAD (FORCE) CONTROL
- TIRE CONTACT INFORMATION
- SETUP PROCEDURE FOR STROKE-CONTROLLED ACTUATORS
- LOAD ACTUATOR SETUP
- FORCE MODEL
- CONCLUSION
- REFERENCES
- INTRODUCTION
- HUMAN AND MECHANICAL JOINTS
- The Temporomandibular Joint (TMJ) as Part of the Masticatory System
- TMJ Degrees of Freedom
- Digital TMJ Recorder Setup
- Process to Establish the Hinge
- DISPLACEMENT MODEL FOR THE THREE-SENSOR CLUSTER
- Sensor Cluster Coordinate Systems
- SPACE LOCATION SYSTEM (SLS) METHODS
- TARGET ARRAY
- CONCLUSION
- REFERENCES
- SUBJECT INDEX
