• J. Michael McCarthy

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

1. Front Matter
Pages i-xxi
2. Pages 1-12
3. Pages 13-47
4. Pages 48-68
5. Pages 69-85
6. Pages 86-115
7. Pages 116-139
8. Pages 140-161
9. Pages 162-188
10. Pages 189-214
11. Pages 215-239
12. Pages 240-265
13. Pages 266-284
14. Back Matter
Pages 285-319

### Introduction

to introduce these techniques and additional background is provided in appendices. The ?rst chapter presents an overview of the articulated systems that we will be considering in this book. The generic mobility of a linkage is de?ned, and we separate them into the primary classes of planar, spherical, and spatial chains. The second chapter presents the analysis of planar chains and details their movement and classi?cation. Chapter three develops the graphical design theory for planar linkages and introduces many of the geometric principlesthatappearintheremainderofthebook.Inparticular,geometric derivations of the pole triangle and the center-point theorem anticipate analytical results for the spherical and spatial cases. Chapter four presents the theory of planar displacements, and Chapter ?ve presents the algebraic design theory. The bilinear structure of the - sign equations provides a solution strategy that emphasizes the geometry underlying linear algebra. The ?ve-position solution includes an elimi- tion step that is probably new to most students, though it is understood and well-received in the classroom. Chapters six and seven introduce the properties of spherical linkages and detail the geometric theory of spatial rotations. Chapter eight presents the design theory for these linkages, which is analogous to the planar theory. This material exercises the student’s use of vector methods to represent geometry in three dimensions. Perpendicular bisectors in the planar design theory become perpendicular bisecting planes that intersect to de?ne axes. The analogue provides students with a geometric perspective of the linear equations that they are solving.

### Keywords

algebra calculus design design theory kinematics machines modeling robot robotics

#### Authors and affiliations

• J. Michael McCarthy
• 1
1. 1.Department of Mechanical and Aerospace EngineeringUniversity of California, IrvineIrvineUSA

### Bibliographic information

• DOI https://doi.org/10.1007/b98861
• Copyright Information Springer-Verlag New York, Inc. 2000
• Publisher Name Springer, New York, NY
• eBook Packages
• Print ISBN 978-0-387-98983-9
• Online ISBN 978-0-387-22735-1
• Series Print ISSN 0939-6047
• Buy this book on publisher's site
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