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© 2011

Geometric Design of Linkages

  • Only book that brings together the kinematic synthesis theory of planar, spherical and spatial kinematic chains

  • This mathematical theory forms the foundation for numerical methods for dimensional synthesis of the articulated skeletons of modern machine, manipulator and robotic systems.

Textbook

Part of the Interdisciplinary Applied Mathematics book series (IAM, volume 11)

Table of contents

  1. Front Matter
    Pages i-xxviii
  2. J. Michael McCarthy, Gim Song Soh
    Pages 1-14
  3. J. Michael McCarthy, Gim Song Soh
    Pages 15-53
  4. J. Michael McCarthy, Gim Song Soh
    Pages 55-74
  5. J. Michael McCarthy, Gim Song Soh
    Pages 75-92
  6. J. Michael McCarthy, Gim Song Soh
    Pages 93-123
  7. J. Michael McCarthy, Gim Song Soh
    Pages 125-154
  8. J. Michael McCarthy, Gim Song Soh
    Pages 155-178
  9. J. Michael McCarthy, Gim Song Soh
    Pages 179-201
  10. J. Michael McCarthy, Gim Song Soh
    Pages 203-229
  11. J. Michael McCarthy, Gim Song Soh
    Pages 231-251
  12. J. Michael McCarthy, Gim Song Soh
    Pages 253-279
  13. J. Michael McCarthy, Gim Song Soh
    Pages 281-306
  14. J. Michael McCarthy, Gim Song Soh
    Pages 307-333
  15. J. Michael McCarthy, Gim Song Soh
    Pages 335-356
  16. J. Michael McCarthy, Gim Song Soh
    Pages 357-392
  17. J. Michael McCarthy, Gim Song Soh
    Pages 393-410
  18. Back Matter
    Pages 411-448

About this book

Introduction

 

This book is an introduction to the mathematical theory of design for articulated mechanical systems known as linkages. The focus is on sizing mechanical constraints that guide the movement of a workpiece, or end effector, of the system. The function of the device is prescribed as a set of positions to be reachable by the end effector; and the mechanical constraints are formed by joints that limit relative movement. The goal is to find all the devices that can achieve a specific task. Formulated in this way the design problem is purely geometric in character. Robot manipulators, walking machines, and mechanical hands are examples of articulated mechanical systems that rely on simple mechanical constraints to provide a complex workspace for the end effector.

This new edition includes research results of the past decade on the synthesis of multiloop planar and spherical linkages, and the use of homotopy methods and Clifford algebras in the synthesis of spatial serial chains. One new chapter on the synthesis of spatial serial chains introduces the linear product decomposition of polynomial systems and polynomial continuation solutions. The second new chapter introduces the Clifford algebra formulation of the kinematics equations of serial chain robots. Examples are used throughout to demonstrate the theory.

 Review of First Edition: "...I found the author had provided an excellent text that enabled me to come to terms with the subject. Readers with an interest in the area will find the volume rewarding." -The Mathematical Gazette (2001)

Keywords

Kinematic synthesis of linkages analysis and synthesis of planar spatial open and closed chains

Authors and affiliations

  1. 1., Department of Mechanical EngineeringUniversity of California, IrvineIrvineUSA
  2. 2.Singapore Institute of Manufacturing TecSingaporeSingapore

About the authors

J. Michael McCarthy is a Professor in the Department of Mechanical Engineering at University of California, Irvine.

Bibliographic information

Industry Sectors
Electronics
Engineering
Finance, Business & Banking

Reviews

From the reviews of the second edition:

"...I found the author had provided an excellent text that enabled me to come to terms with the subject. Readers with an interest in the area will find the volume rewarding." -The Mathematical Gazette (2001)

“The book to review is the most extensive source of the synthesis side, containing all the theoretical basics needed for the design of planar, spherical and spatial linkages. … this book is a real guide from the very beginnings of synthesis of simple mechanisms to the latest, theoretically involved results in the synthesis of multi-loop planar, spherical and spatial linkages.” (Manfred Husty, Zentralblatt MATH, Vol. 1227, 2012)