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Ting-Li Yang Anxin Liu Huiping Shen L Topology Design o (Paperback) (UK IMPORT)
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eBay item number:136469201112
Item specifics
- Condition
- Brand New: A new, unread, unused book in perfect condition with no missing or damaged pages. See all condition definitionsopens in a new window or tab
- EAN
- 9789811354182
- ISBN
- 9789811354182
- Edition
- Softcover reprint of the original 1st ed. 2018
- Country/Region of Manufacture
- SG
- Publication Name
- Topology Design of Robot Mechanisms
- Title
- Topology Design of Robot Mechanisms
- Release Date
- 02/01/2019
- Release Year
- 2019
- Item Height
- 235mm
About this product
Product Identifiers
Publisher
Springer
ISBN-10
9811354189
ISBN-13
9789811354182
eBay Product ID (ePID)
7038659971
Product Key Features
Book Title
Topology Design of Robot Mechanisms
Number of Pages
Xix, 236 Pages
Language
English
Topic
Intelligence (Ai) & Semantics, Electrical, Machinery, Robotics
Publication Year
2019
Illustrator
Yes
Genre
Computers, Technology & Engineering
Format
Trade Paperback
Dimensions
Item Weight
16 Oz
Item Length
9.3 in
Item Width
6.1 in
Additional Product Features
Dewey Edition
23
Number of Volumes
1 vol.
Dewey Decimal
629.892
Table Of Content
Introduction.- Topological structure of mechanisms and mathematical representation.- Position and orientation characteristic of mechanisms and mathematical representation.- Topological structure equations of mechanisms.- General DOF formula of mechanisms.- Composition principle and topological structure characteristics of mechanisms.- General method for topological structure synthesis of mechanisms.- Topological structure design of 3-DOF parallel mechanisms.- Topological structure design of 4-DOF parallel mechanisms.- Topological structure design of 5-DOF parallel mechanisms.- Topological structure design of 6-DOF parallel mechanisms.- Conclusion.
Synopsis
This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts - The "geometrical constraint type of axes" is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). - The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). - The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4-6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations - The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). - The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). - The general DOF formula for spatial mechanisms (Chapter 6). - The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8-10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: - The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. - The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. - Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10)., Presents a new systematic theory for studying a mechanism's topological structure Reveals an easy-to-implement method for the topological structure design of mechanisms Provides illustrative examples to guide readers through the entire design process Serves as a theoretical guide for researchers and a work manual for designers, This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The "geometrical constraint type of axes" is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4-6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations * The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). * The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). * The general DOF formula for spatial mechanisms (Chapter 6). * The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8-10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: * The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. * The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. * Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).
LC Classification Number
TA213-215
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- h***y (1688)- Feedback left by buyer.Past monthVerified purchaseA+++++++++++++++++++ Perfection
- r***9 (48)- Feedback left by buyer.Past monthVerified purchaseWas looking for this Led Z rarity and also a great price. Thanks!
- d***e (6)- Feedback left by buyer.Past monthVerified purchaseItem arrived early and in good condition.