Spatial Kinematic Chains [E-Book] : Analysis — Synthesis — Optimization / by Jorge Angeles
Saved in:
Full text |
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Personal Name(s): | Angeles, Jorge, author |
Imprint: |
Berlin, Heidelberg :
Springer,
1982
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Physical Description: |
XII, 370 p. online resource. |
Note: |
englisch |
ISBN: |
9783642488191 |
DOI: |
10.1007/978-3-642-48819-1 |
Subject (LOC): |
- 1 Mathematical Preliminaries
- 1.0 Introduction
- 1.1 Vector space, linear dependence and basis of a vector space
- 1.2 Linear transformation and its matrix representation
- 1.3 Range and null space of a linear transformation
- 1.4 Eigenvalues and eigenvectors of a linear transformation
- 1.5 Change of basis
- 1.6 Diagonalization of matrices
- 1.7 Bilinear forms and sign definition of matrices
- 1.8 Norms, isometries, orthogonal and unitary matrices
- 1.9 Properties of unitary and orthogonal matrices
- 1.10 Stationary points of scalar functions of a vector argument
- 1.11 Linear algebraic systems
- 1.12 Numerical solution of linear algebraic systems
- 1.13 Numerical solution of nonlinear algebraic systems
- References
- 2. Fundamentals of Rigid-Body Three-Dimensional Kinematics
- 2.1 Introduction
- 2.2 Motion of a rigid body
- 2.3 The Theorem of Euler and the revolute matrix
- 2.4 Groups of rotations
- 2.5 Rodrigues’ formula and the Cartesian decomposition of the rotation matrix
- 2.6 General motion of a rigid body and Chasles’ Theorem
- 2.7 Velocity of a point of a rigid body rotating about a fixed point
- 2.8 Velocity of a moving point referred to a moving observer
- 2.9 General motion of a rigid body
- 2.10 Theorems related to the velocity distribution in a moving rigid body
- 2.11 Acceleration distribution in a rigid body moving about a fixed point
- 2.12 Acceleration distribution in a rigid body under general motion
- 2.13 Acceleration of a moving point referred to a moving observer
- References
- 3. Generalities on Lower-Pair Kinematic Chains
- 3.1 Introduction
- 3.2 Kinematic pairs
- 3.3 Degree of freedom
- 3.4 Classification of lower pairs
- 3.5 Classification of kinematic chains
- 3.6 Linkage problems in the Theory of Machines and Mechanisms
- References
- 4. Analysis of Motions of Kinematic Chains
- 4.1 Introduction
- 4.2 The method of Denavit and Hartenberg
- 4.3 An alternate method of analysis
- 4.4 Applications to open kinematic chains
- References
- 5. Synthesis of Linkages
- 5.1 Introduction
- 5.2 Synthesis for function generation
- 5.3 Mechanism synthesis for rigid-body guidance
- 5.4 A different approach to the synthesis problem for rigid-body guidance
- 5.5 Linkage synthesis for path generation
- 5.6 Epilogue
- References
- 6. An Introduction to the Optimal Synthesis of Linkages
- 6.1 Introduction
- 6.2 The optimisation problem
- 6.3 Overdetermined problems of linkage synthesis
- 6.4 Underdetermined problems of linkage synthesis subject to no inequality constraints
- 6.5 Linkage optimisation subject to inequality constraints. Penalty function methods
- 6.6 Linkage optimisation subject to inequality constraints. Direct methods
- References
- Appendix 1 Algebra of dyadics
- Appendix 2 Derivative of a determinant with respect to a scalar argument
- Appendix 4 Synthesis of plane linkages for rigid-body guidance.